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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)
作者部门机器人学研究室
关键词Visual Localization Multiple Vertical Planes Error Aware Convex Optimization Urban Environment Satellite Images Mobile Robot
发表期刊Science China Information Sciences
ISSN1674-733X
2015
卷号58期号:3页码:1-14
收录类别SCI ; EI ; CSCD
EI收录号20150700510958
WOS记录号WOS:000349811500012
CSCD记录号CSCD:5386556
产权排序2
资助机构National 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).
摘要A 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.
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/17290
专题机器人学研究室
通讯作者Li HF(李海丰); Wang HP(王鸿鹏)
作者单位1.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
推荐引用方式
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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