Robot localization using uncalibrated camera invariants

Michael Werman*, Subhashis Banerjee, Sumantra Dutta Roy, Maolin Qiu

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

10 Scopus citations

Abstract

We describe a set of image measurements which are invariant to the camera internals but are location variant. We show that using these measurements it is possible to calculate the self-localization of a robot using known landmarks and uncalibrated cameras. We also show that it is possible to compute, using uncalibrated cameras, the Euclidean structure of 3-D world points using multiple views from known positions. We are free to alter the internal parameters of the camera during these operations. Our initial experiments demonstrate the applicability of the method.

Original languageEnglish
Pages (from-to)353-359
Number of pages7
JournalProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Volume2
StatePublished - 1999
EventProceedings of the 1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'99) - Fort Collins, CO, USA
Duration: 23 Jun 199925 Jun 1999

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