Abstract
A novel model-based approach for global self-localization using active stereo vision and density Gaussian spheres is presented. The proposed object recognition components deliver noisy percept subgraphs, which are filtered and fused into an ego-centered reference frame. In subsequent stages, the required vision-to-model associations are extracted by selecting ego-percept subsets in order to prune and match the corresponding world-model subgraph. Ideally, these coupled subgraphs hold necessary information to obtain the model-to-world transformation, i.e., the pose of the robot. However, the estimation of the pose is not robust due to the uncertainties introduced when recovering Euclidean metric from images and during the mapping from the camera to the ego-center. The approach models the uncertainty of the percepts with a radial normal distribution. This formulation allows a closed-form solution which not only derives the maximal density position depicting the optimal ego-center but also ensures the solution even in situations where pure geometric spheres might not intersect.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Asfour, T., Azad, P., Vahrenkamp, N., Regenstein, K., Bierbaum, A., Welke, K., Schröder, J., Dillmann, R.: Toward humanoid manipulation in human-centred environments. Robot. Auton. Syst. 56(1), 54–65 (2008)
Asfour, T., Regenstein, K., Azad, P., Schroder, J., Bierbaum, A., Vahrenkamp, N., Dillmann, R.: ARMAR-3: an integrated humanoid platform for sensory-motor control. In: 6th International Conference on Humanoid Robots, IEEE-RAS, 4–6 Dec. 2006, pp. 169–175
Asfour, T., Welke, K., Azad, P., Ude, A., Dillmann, R.: The Karlsruhe humanoid head. In: IEEE-RAS International Conference on Humanoid Robots (2008)
John, H., Horst, S.: Handbook of Mathematics and Computational Science. Springer, Berlin (2006). ISBN: 978-0-387-94746-4
Bayro, E., Sobczyk, G.: Geometric Algebra with Applications in Science and Engineering. Birkhäuser, Basel (2001). ISBN: 978-0-8176-4199-3
Dorst, L., Fontijne, D., Mann, S.: Geometric Algebra for Computer Science, An Object-Oriented Approach to Geometry. The Morgan Kaufmann Series in Computer Graphics. Morgan Kaufmann, San Mateo (2007). ISBN: 0-123-69465-5
Harris, C., Stephens, M.J.: A combined corner and edge detector. In: Alvey Vision Conference, pp. 147–152 (1988)
Lowe, D.: Object recognition from local scale-invariant features. In: The Proceedings of the Seventh IEEE International Conference on Computer Vision, Sept. 1999, pp. 1150–1157
Gonzalez-Aguirre, D., Asfour, T., Bayro-Corrochano, E., Dillmann, R.: Model-based visual self-localization using geometry and graphs. In: ICPR 2008. 19th International Conference on Pattern Recognition, Tampa, Florida Dic. (2008)
Ullman, S.: High-Level Vision. MIT Press, Cambridge (1996). ISBN: 978-0-262-71007-7
Se, S., Lowe, D., Little, J.: Vision-based global localization and mapping for mobile robots. IEEE Trans. Robot. Autom. 21, 364–375 (2005)
Duda, R., Hart, P.: Pattern Classification and Scene Analysis. Wiley, New York (1973). ISBN: 0-471-22361-1
Comaniciu, D., Meer, P.: Mean shift: a robust approach toward feature space analysis. IEEE Trans. Pattern. Anal. Mach. Intell. 24, 603–619 (2002)
Gonzalez-Aguirre, D., Bayro-Corrochano, E.: A geometric approach for an intuitive perception system of humanoids. In: International Conference on Intelligent Autonomous Systems, Proceedings IAS-9, March 2006
Pollefeys, M., Gool, L., Vergauwen, M., Verbiest, F., Cornelis, K., Tops, J., Koch, R.: Visual modeling with a hand-held camera. Int. J. Comput. Vis. 59(3), 207–232 (2004)
Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision. Cambridge University Press, Cambridge (2004). ISBN: 0521540518
Kallenberg, O.: Foundations of Modern Probability. Springer, New York (1997). ISBN: 0387953132
Korn, T., Granino, A.: Mathematical Handbook for Scientists and Engineers. Dover, New York (2000). ISBN: 0-486-41147-8
Avis, D., Fukuda, K.: A pivoting algorithm for convex hulls and vertex enumeration of arrangements and polyhedra. Int. J. Discrete Comput. Geom. 8, 295–313 (1992)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag London
About this chapter
Cite this chapter
Gonzalez-Aguirre, D., Asfour, T., Bayro-Corrochano, E., Dillmann, R. (2010). Model-Based Visual Self-localization Using Gaussian Spheres. In: Bayro-Corrochano, E., Scheuermann, G. (eds) Geometric Algebra Computing. Springer, London. https://doi.org/10.1007/978-1-84996-108-0_15
Download citation
DOI: https://doi.org/10.1007/978-1-84996-108-0_15
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-84996-107-3
Online ISBN: 978-1-84996-108-0
eBook Packages: Computer ScienceComputer Science (R0)