TY - GEN
T1 - Motion estimation for a mobile robot based on real-time stereo vision system
AU - Zhongli, Wang
AU - Xueshan, Gao
AU - Baochang, Zhang
AU - Hao, Wu
PY - 2009
Y1 - 2009
N2 - Vision-based motion estimation is a key technique in autonomously mobile robot. This paper presents an integrated method for motion estimation of the mobile robot based on floor plane extraction. The whole processes include floor plane extraction, pose estimation of the onboard stereo vision system and motion estimation of the mobile robot. First, based on disparity map obtained from the onboard real-time stereo vision system, a two-stage method is used for fast floor plane extraction. Then all the points belong to the floor plane are transformed from disparity space to Euclidean space, and a simple least squares method is employed to fit the floor plane. The fitting parameters of the floor plane are used for the pose estimation of the onboard stereo vision system. Finally, the motion of the mobile robot is estimated with the tracking results of the points on floor plane. The proposed motion estimation method is intended to be used in the motion control of a wheeled mobile robot. Experimental results in real environments are presented.
AB - Vision-based motion estimation is a key technique in autonomously mobile robot. This paper presents an integrated method for motion estimation of the mobile robot based on floor plane extraction. The whole processes include floor plane extraction, pose estimation of the onboard stereo vision system and motion estimation of the mobile robot. First, based on disparity map obtained from the onboard real-time stereo vision system, a two-stage method is used for fast floor plane extraction. Then all the points belong to the floor plane are transformed from disparity space to Euclidean space, and a simple least squares method is employed to fit the floor plane. The fitting parameters of the floor plane are used for the pose estimation of the onboard stereo vision system. Finally, the motion of the mobile robot is estimated with the tracking results of the points on floor plane. The proposed motion estimation method is intended to be used in the motion control of a wheeled mobile robot. Experimental results in real environments are presented.
KW - Disparity space
KW - Mobile robot
KW - Motion estimation
UR - http://www.scopus.com/inward/record.url?scp=73849143989&partnerID=8YFLogxK
U2 - 10.1109/CISP.2009.5303543
DO - 10.1109/CISP.2009.5303543
M3 - Conference contribution
AN - SCOPUS:73849143989
SN - 9781424441310
T3 - Proceedings of the 2009 2nd International Congress on Image and Signal Processing, CISP'09
BT - Proceedings of the 2009 2nd International Congress on Image and Signal Processing, CISP'09
T2 - 2009 2nd International Congress on Image and Signal Processing, CISP'09
Y2 - 17 October 2009 through 19 October 2009
ER -