Visual Localization Using Ground Points

Authors:
Francisco Bonin-Font;Antoni Burguera;Alberto Ortiz;Gabriel Oliver
Affiliations:
Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca, Spain;Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca, Spain;Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca, Spain;Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca, Spain
Venue:
Proceedings of the 2010 conference on Artificial Intelligence Research and Development: Proceedings of the 13th International Conference of the Catalan Association for Artificial Intelligence
Year:
2010

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Abstract

This paper presents a mobile robot localization approach aimed at using visual information to improve the dead reckoning pose estimates. Visual features are obtained by means of an Inverse Perspective Transformation method, which is able to distinguish between ground points and obstacles. Thanks to this, ground points can be labelled with unique identifiers and their coordinates can be computed. These labelled ground points constitute the visual landmarks and are fused with dead reckoning information by means of an Extended Kalman Filter. The experimental results provided emphasize the benefits of this approach.