Estimation of camera motion with feature flow model for 3D environment modeling by using Omni-directional camera

Authors:
Ryosuke Kawanishi;Atsushi Yamashita;Toru Kaneko
Affiliations:
Department of Mechanical Engineering, Faculty of Engineering, Shizuoka University, Shizuoka, Japan;Department of Mechanical Engineering, Faculty of Engineering, Shizuoka University, Shizuoka, Japan;Department of Mechanical Engineering, Faculty of Engineering, Shizuoka University, Shizuoka, Japan
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, mobile robots should generate an environment map by themselves. Then, we propose a method for 3D environment modeling by a mobile robot. For environmental measurement, we use a single omni-directional camera. We propose a new estimation method of camera motions for improvement in measurement robustness and accuracy. The method takes advantage of a wide field of view of an omni-directional camera. Experimental results showed the effectiveness of the proposed method.