A Novel Dual Camera Method for Odometric Exteroceptive Relative Localisation

Abstract

In this paper a new type of sensor data input for mobile robot localisation is proposed. Sensor images are taken from two ground-facing cameras mounted on either side of the robot. The affine transformations between image pairs, computed using the phase correlation method, are used to estimate the motion of the robot. Results on a plain coloured carpeted… (More)

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