Error aware multiple vertical planes based visual localization for mobile robots in urban environments

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	Error aware multiple vertical planes based visual localization for mobile robots in urban environments
	Li HaiFeng 1; Wang HongPeng 2; Liu JingTai 2
刊名	SCIENCE CHINA-INFORMATION SCIENCES
	2015
卷号	58 期号:3
关键词	SLAM IMAGE visual localization multiple vertical planes error aware convex optimization satellite images urban environment mobile robot
ISSN号	1674-733X
其他题名	Error aware multiple vertical planes based visual localization for mobile robots in urban environments
英文摘要	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.
资助项目	[National Natural Science Foundation of China] ; [Fundamental Research Funds for the Central Universities] ; [Pre-research Major Project of Civil Aviation University of China] ; [Scientific Research Funds for Civil Aviation University of China] ; [State Key Laboratory of Robotics]
语种	英语
CSCD记录号	CSCD:5386556
内容类型	期刊论文
源URL	[http://ir.imr.ac.cn/handle/321006/156753]
专题	金属研究所_中国科学院金属研究所
作者单位	1.Civil Aviat University China, Coll Comp Sci & Technol, Tianjin 300300, Peoples R China 2.Nankai Univ, Institute Robot & Automat Informat Syst, Tianjin 300071, Peoples R China 3.中国科学院金属研究所
推荐引用方式 GB/T 7714	Li HaiFeng,Wang HongPeng,Liu JingTai. Error aware multiple vertical planes based visual localization for mobile robots in urban environments[J]. SCIENCE CHINA-INFORMATION SCIENCES,2015,58(3).
APA	Li HaiFeng,Wang HongPeng,&Liu JingTai.(2015).Error aware multiple vertical planes based visual localization for mobile robots in urban environments.SCIENCE CHINA-INFORMATION SCIENCES,58(3).
MLA	Li HaiFeng,et al."Error aware multiple vertical planes based visual localization for mobile robots in urban environments".SCIENCE CHINA-INFORMATION SCIENCES 58.3(2015).