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Error aware multiple vertical planes based visual localization for mobile robots in urban environments
Li HF(李海丰); Wang HP(王鸿鹏); Liu JT(刘景泰)
Department机器人学研究室
Source PublicationScience China Information Sciences
ISSN1674-733X
2015
Volume58Issue:3Pages:1-14
Indexed BySCI ; EI ; CSCD
EI Accession number20150700510958
WOS IDWOS:000349811500012
CSCD IDCSCD:5386556
Contribution Rank2
Funding OrganizationNational Natural Science Foundation of China (Grant Nos. 61305107, U1333109 and 61105096), the Fundamental Research Funds for the Central Universities (Grant No. ZXH2012N003), the Preresearch Major Project of Civil Aviation University of China (Grant No. 3122013P003), the Scientific Research Funds for Civil Aviation University of China (Grant No. 2012QD23X), and the Opening Project of State Key Laboratory of Robotics (Grant No. 2013-O02).
KeywordVisual Localization Multiple Vertical Planes Error Aware Convex Optimization Urban Environment Satellite Images Mobile Robot
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.
Language英语
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17290
Collection机器人学研究室
Corresponding AuthorLi HF(李海丰); Wang HP(王鸿鹏)
Affiliation1.College of Computer Science and Technology, Civil Aviation University of China, Tianjin, China
2.Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China
3.State Key Laboratory of Robotics, Shenyang, China
Recommended Citation
GB/T 7714
Li HF,Wang HP,Liu JT. Error aware multiple vertical planes based visual localization for mobile robots in urban environments[J]. Science China Information Sciences,2015,58(3):1-14.
APA Li HF,Wang HP,&Liu JT.(2015).Error aware multiple vertical planes based visual localization for mobile robots in urban environments.Science China Information Sciences,58(3),1-14.
MLA Li HF,et al."Error aware multiple vertical planes based visual localization for mobile robots in urban environments".Science China Information Sciences 58.3(2015):1-14.
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