Triangulation in Omnidirectional Vision under the L∞-Norm

摘要：

The triangulation method is the basic method for robots to exactly locate points in unknown environments. But the traditional triangulation method has the drawback that its solution is locally optimal. This paper devise a novel solution to triangulation in omnidirectional vision under the L∞-norm, which provides a theoretical guarantee of global optimality and a wide field of view. We give three different kinds of frameworks according to the omnidirectional vision model. A robot with this algorithm, which provides global optimality and a wide field of view demonstrated by good performance in experiments for synthetic and real data, has a more exact location and 3D reconstruction ability, which cannot be provided by traditional triangulation method under traditional vision system.

关键词： triangulation omnidirectional vision global optimality L∞-norm 3D reconstruction

作者: Liwei Zhang Jianwei Zhang Ying Hu

作者单位: Institute of Automation,Chinese Academy of Sciences,Beijing,China Shenzhen Institutes of Advanced Te TAMS,Department of Informatics,University of Hamburg,Hamburg,Germany Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences,Shenzhen,China The Chinese Un

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）