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Error aware multiple vertical planes based visual localization for mobile robots in urban environments
Alternative TitleError aware multiple vertical planes based visual localization for mobile robots in urban environments
Li HaiFeng1; Wang HongPeng2; Liu JingTai2
2015
Source PublicationSCIENCE CHINA-INFORMATION SCIENCES
ISSN1674-733X
Volume58Issue:3
AbstractA novel error-aware visual localization method is proposed that utilizes vertical planes, such as vertical building facades in urban areas as landmarks. Vertical planes, reconstructed from coplanar vertical lines, are robust high-level features if compared with point features or line features. Firstly, the error models of vertical lines and vertical planes are built, where maximum likelihood estimation (MLE) is employed to estimate all vertical planes from coplanar vertical lines. Then, the closed-form representation of camera location error variance is derived. Finally, the minimum variance camera pose estimation is formulated into a convex optimization problem, and the weight for each vertical plane is obtained by solving this well-studied problem. Experiments are carried out and the results show that the proposed localization method has an accuracy of about 2 meters, at par with commercial GPS operating in open environments.
Other AbstractA novel error-aware visual localization method is proposed that utilizes vertical planes, such as vertical building facades in urban areas as landmarks. Vertical planes, reconstructed from coplanar vertical lines, are robust high-level features if compared with point features or line features. Firstly, the error models of vertical lines and vertical planes are built, where maximum likelihood estimation (MLE) is employed to estimate all vertical planes from coplanar vertical lines. Then, the closed-form representation of camera location error variance is derived. Finally, the minimum variance camera pose estimation is formulated into a convex optimization problem, and the weight for each vertical plane is obtained by solving this well-studied problem. Experiments are carried out and the results show that the proposed localization method has an accuracy of about 2 meters, at par with commercial GPS operating in open environments.
KeywordSLAM IMAGE visual localization multiple vertical planes error aware convex optimization satellite images urban environment mobile robot
Indexed ByCSCD
Language英语
Funding Project[National Natural Science Foundation of China] ; [Fundamental Research Funds for the Central Universities] ; [Pre-research Major Project of Civil Aviation University of China] ; [Scientific Research Funds for Civil Aviation University of China] ; [State Key Laboratory of Robotics]
CSCD IDCSCD:5386556
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Document Type期刊论文
Identifierhttp://ir.imr.ac.cn/handle/321006/156754
Collection中国科学院金属研究所
Affiliation1.Civil Aviat University China, Coll Comp Sci & Technol, Tianjin 300300, Peoples R China
2.Nankai Univ, Institute Robot & Automat Informat Syst, Tianjin 300071, Peoples R China
3.中国科学院金属研究所
Recommended Citation
GB/T 7714
Li HaiFeng,Wang HongPeng,Liu JingTai. Error aware multiple vertical planes based visual localization for mobile robots in urban environments[J]. SCIENCE CHINA-INFORMATION SCIENCES,2015,58(3).
APA Li HaiFeng,Wang HongPeng,&Liu JingTai.(2015).Error aware multiple vertical planes based visual localization for mobile robots in urban environments.SCIENCE CHINA-INFORMATION SCIENCES,58(3).
MLA Li HaiFeng,et al."Error aware multiple vertical planes based visual localization for mobile robots in urban environments".SCIENCE CHINA-INFORMATION SCIENCES 58.3(2015).
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