Stereo-based visual localization without triangulation for unmanned robotics platform

Alexey Volkov; Egor Ershov; Sergey Gladilin; Dmitry Nikolaev

doi:10.1117/12.2266410

8 February 2017 Stereo-based visual localization without triangulation for unmanned robotics platform

Alexey Volkov, Egor Ershov, Sergey Gladilin, Dmitry Nikolaev

Proceedings Volume 10253, 2016 International Conference on Robotics and Machine Vision; 102530D (2017) https://doi.org/10.1117/12.2266410
Event: 2016 International Conference on Robotics and Machine Vision, 2016, Moscow, Russia

Abstract

In this paper we propose a novel method for localization based on matching two stereo images. It is based on minimizing the sum of square distances between each 3D point and four corresponding 3D rays. The method shows good results for practical localization purposes. Moreover it is robust to the presence of feature point correspondences with zero disparity, which is usually a problem for classical methods. The algorithm is tested in comparison to the classical method. It has linear complexity with respect to feature point correspondence number.

Citation Download Citation

Alexey Volkov, Egor Ershov, Sergey Gladilin, and Dmitry Nikolaev "Stereo-based visual localization without triangulation for unmanned robotics platform", Proc. SPIE 10253, 2016 International Conference on Robotics and Machine Vision, 102530D (8 February 2017); https://doi.org/10.1117/12.2266410

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