A method to estimate 3D structure for mobile robot

Lian Xiaofeng; Dou Lihua; Chen Jie

doi:10.1109/WCICA.2006.1713735

A method to estimate 3D structure for mobile robot

Lian Xiaofeng^*
, Dou Lihua
, Chen Jie

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper describes a method to estimate 3D structure for mobile robot. The vision-based system of the mobile robot includes a monocular CCD camera mounted on it which can find and track the fixed reference points in 3D space while the robot moves freely. In this method a special feature point is always kept at the center of the image as the reference point by visual feedback, and then the rest feature points nearby it could be located to build a local map. In the paper, the method is mainly discussed upon the translational motion and rotational motion of the robot respectively. Experimental results show the validity of this method.

Original language	English
Title of host publication	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Pages	8971-8975
Number of pages	5
DOIs	https://doi.org/10.1109/WCICA.2006.1713735
State	Published - 2006
Externally published	Yes
Event	6th World Congress on Intelligent Control and Automation, WCICA 2006 - Dalian, China Duration: 21 Jun 2006 → 23 Jun 2006

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Volume	2

Conference

Conference	6th World Congress on Intelligent Control and Automation, WCICA 2006
Country/Territory	China
City	Dalian
Period	21/06/06 → 23/06/06

Keywords

3D structure
Mobile robot
Monocular

Access to Document

10.1109/WCICA.2006.1713735

Cite this

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title = "A method to estimate 3D structure for mobile robot",

abstract = "This paper describes a method to estimate 3D structure for mobile robot. The vision-based system of the mobile robot includes a monocular CCD camera mounted on it which can find and track the fixed reference points in 3D space while the robot moves freely. In this method a special feature point is always kept at the center of the image as the reference point by visual feedback, and then the rest feature points nearby it could be located to build a local map. In the paper, the method is mainly discussed upon the translational motion and rotational motion of the robot respectively. Experimental results show the validity of this method.",

keywords = "3D structure, Mobile robot, Monocular",

author = "Lian Xiaofeng and Dou Lihua and Chen Jie",

year = "2006",

doi = "10.1109/WCICA.2006.1713735",

language = "英语",

isbn = "1424403324",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

pages = "8971--8975",

booktitle = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

note = "6th World Congress on Intelligent Control and Automation, WCICA 2006 ; Conference date: 21-06-2006 Through 23-06-2006",

}

Xiaofeng, L, Lihua, D & Jie, C 2006, A method to estimate 3D structure for mobile robot. in Proceedings of the World Congress on Intelligent Control and Automation (WCICA)., 1713735, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), vol. 2, pp. 8971-8975, 6th World Congress on Intelligent Control and Automation, WCICA 2006, Dalian, China, 21/06/06. https://doi.org/10.1109/WCICA.2006.1713735

A method to estimate 3D structure for mobile robot. / Xiaofeng, Lian; Lihua, Dou; Jie, Chen.
Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 2006. p. 8971-8975 1713735 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper describes a method to estimate 3D structure for mobile robot. The vision-based system of the mobile robot includes a monocular CCD camera mounted on it which can find and track the fixed reference points in 3D space while the robot moves freely. In this method a special feature point is always kept at the center of the image as the reference point by visual feedback, and then the rest feature points nearby it could be located to build a local map. In the paper, the method is mainly discussed upon the translational motion and rotational motion of the robot respectively. Experimental results show the validity of this method.

AB - This paper describes a method to estimate 3D structure for mobile robot. The vision-based system of the mobile robot includes a monocular CCD camera mounted on it which can find and track the fixed reference points in 3D space while the robot moves freely. In this method a special feature point is always kept at the center of the image as the reference point by visual feedback, and then the rest feature points nearby it could be located to build a local map. In the paper, the method is mainly discussed upon the translational motion and rotational motion of the robot respectively. Experimental results show the validity of this method.

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KW - Monocular

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Y2 - 21 June 2006 through 23 June 2006

ER -

A method to estimate 3D structure for mobile robot

Abstract

Publication series

Conference

Keywords

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