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This page contains some research results on vision based robot
navigation.
We had several student projects dealing with vision based
self-localization of mobile robots.
As shown in the previous page, we are interested in visual
self-localization of mobile robots. The reason for this
research topic is, that the accumulated
odometric data of the robot movements are too inexact for
robust navigation. In contrast to ultrasonic based navigation,
the use of visual information becomes more and more popular.
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The reason
for the growing interest in visual navigation are its closeness
to human navigation and the generalization capabilities of the
human eye as sensor in combination with the brain as visual
system: Humans not only navigate with the help of their eyes,
they also perform object recognition, object grasping and
manipulation with their help. Such abilities are important for
cognitive tasks and gives the option for further use of
information for more complex behaviors in artificial systems.
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We implemented a running system, which enables a mobile robot
(B21)
to navigate with respect
to an a priori known landmark. The tasks we solve in this context are
the combination of image
feature extraction, pose estimation, matching and path planning.
The vision modules are the following:
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The image feature extraction consists of a modified Hough
transformation algorithm.
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We use the odometric data of the robot to gain a tracking
situation and apply a local search strategy to estimate the
corespondences and the pose simultanousely. Please visit the
2D-3D Pose Estimation Project
page for more details about pose estimation.
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After successfull matching and pose estimation we are able to
update the position of the mobile robot. As can be seen, the
algorithm even works with partially occluded images and missing
or non-extractable wedges of the landmark.
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The following images show the B21-mobile robot moving around in our
Lab.
Further information:
Bodo Rosenhahn
Daniel Grest
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| Publications: | | 2004 | Pose Estimation of Free-form Objects
Rosenhahn, B., Sommer, G., Klette, R.
Technical Report 0401, Christian-Albrechts-Universität zu Kiel, Institut für Informatik und Praktische Mathematik, März 2004 | PDF , BibTeX |
| 2003 | Pose Estimation Revisited
Rosenhahn, B.
Dissertation, Institut für Informatik und Praktische Mathematik, Christian-Albrechts-Universität zu Kiel, 2003. | PDF , BibTeX, Abstract |
| 2002 | Pose Estimation in Conformal Geometric Algebra, Part I: The Stratification of Mathematical Spaces, PartII: Real-time Pose Estimation using Extended Feature Concepts
Rosenhahn, B., Sommer, G.
Technical Report 0206, Christian-Albrechts-Universität zu Kiel, Institut für Informatik und Praktische Mathematik, November 2002 | PDF , BibTeX |
| 2002 | Adaptive pose estimation for different corresponding entities
Rosenhahn, B., Sommer, G.
In L. Van Gool, editor, Pattern Recognition, 24. Symposium für Mustererkennung, Zürich, September 2002, Vol. 2449 of LNCS, pp. 265-273. Springer-Verlag, Berlin Heidelberg, 2002 | PDF , BibTeX |
| 2001 | Learning-Based Robot Vision
Pauli, J.
Springer-Verlag, Heidelberg, 2001 | PDF , BibTeX |
| 2001 | A unified description of multiple view geometry
Perwass, C., Lasenby, J.
In G. Sommer, editor, Geometric Computing with Clifford Algebra, pp. 337-369. Springer-Verlag, Heidelberg, 2001 | PDF, PS , BibTeX |
| 2001 | Tracking with a novel pose estimation algorithm
Rosenhahn, B., Krüger, N., Rabsch, T., Sommer, G.
In R. Klette, S. Peleg and G. Sommer, editors, International Workshop ``Robot Vision 2001ŽŽ Auckland, New-Zealand, Vol. 1998 of LNCS, pp. 9-18. Springer-Verlag, 2001 | PDF, PS , BibTeX |
| 2001 | The motor extended Kalman filter for dynamic rigid motion estimation from line observations
Zhang, Y., Sommer, G., Bayro-Corrochano, E.
In G. Sommer, editor, Geometric Computing with Clifford Algebra, pp. 501-530. Springer-Verlag, Heidelberg, 2001 | PDF, PS , BibTeX |
| 2000 | Development of Camera-Equipped Robot Systems
Pauli, J.
Technical Report 9904, Christian-Albrechts-Universität zu Kiel, Institut für Informatik und Praktische Mathematik, August 2000 | PDF, PS , BibTeX |
| 2000 | Compatibilities for boundary extraction
Pauli, J., Sommer, G.
In G. Sommer, N. Krüger and C. Perwass, editors, 22. Symposium für Mustererkennung, DAGM 2000, Kiel, pp. 468-475. Springer-Verlag, 2000 | PDF, PS , BibTeX |
| 2000 | Pose estimation in the language of kinematics
Rosenhahn, B., Zhang, Y., Sommer, G.
In G. Sommer and Y. Zeevi, editors, 2nd International Workshop on Algebraic Frames for the Perception-Action Cycle, AFPAC 2000, Kiel, Vol. 1888 of LNCS, pp. 284-293. Springer-Verlag, 2000 | PDF, PS , BibTeX |
| 1999 | The global algebraic frame of the perception-action cycle
Sommer, G.
In B. Jähne, H. Haussecker and P. Geissler, editors, Handbook of Computer Vision and Applications, pp. 221-264. Academic Press, San Diego, 1999 | PDF , BibTeX |
| 1998 | Geometric/photometric consensus and regular shape
quasi-invariants for object localization and boundary extraction
Pauli, J.
Technical Report 9805, Christian-Albrechts-Universität zu Kiel, Institut für Informatik und Praktische Mathematik, Mai 1998 | PDF, PS , BibTeX |
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