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스케일불변 특징의 삼차원 재구성을 통한 이동 로봇의 상대위치추정
申東范(Dong-Fan Shen),吉世基(Se-Kee Kil),李鍾實(Jong-Shill Lee),柳劑群(Je-Goon Ryu),李應赫(Eung-Hyuk Lee),洪勝弘(Seung-Hong Hong) 대한전기학회 2006 전기학회논문지 D Vol.55 No.4
A key component of autonomous navigation of intelligent home robot is localization and map building with recognized features from the environment. To validate this, accurate measurement of relative location between robot and features is essential. In this paper, we proposed relative localization algorithm based on 3D reconstruction of scale invariant features of two images which are captured from two parallel cameras. We captured two images from parallel cameras which are attached in front of robot and detect scale invariant features in each image using SIFT(scale invariant feature transform). Then, we performed matching for the two image's feature points and got the relative location using 3D reconstruction for the matched points. Stereo camera needs high precision of two camera's extrinsic and matching pixels in two camera image. Because we used two cameras which are different from stereo camera and scale invariant feature point and it's easy to setup the extrinsic parameter. Furthermore, 3D reconstruction does not need any other sensor. And the results can be simultaneously used by obstacle avoidance, map building and localization. We set 20㎝ the distance between two camera and capture the 3frames per second. The experimental results show ±6㎝ maximum error in the range of less than 2m and ±15㎝ maximum error in the range of between 2m and 4m.
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