Map-assisted Visual Localization using Line Features in Urban Area
A novel method is presented for robustly estimating the location of a mobile robot in urban areas based on images extracted from a monocular onboard camera, given a 2D building boundary map. The proposed approach firstly reconstructs a set of vertical planes by sampling and clustering vertical lines from the image with Random Sample Consensus (RANSAC), using the derived 1D homographies to inform the planar model. Then, an optimal autonomous localization algorithm based on the 2D building outline map is proposed. The physical experiments are carried out to validate the robustness and accuracy of our localization approach.
Haifeng Li Hongpeng Wang Xiang Lu Jingtai Liu
Instituteof Robotics and Automatic Information System, Nankai University,Tianjin 300071, P.R. China Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300071, P.R. Chin
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
2866-2871
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）