How to localize humanoids with a single camera?

@article{Alcantarilla2013HowTL,
  title={How to localize humanoids with a single camera?},
  author={Pablo Fern{\'a}ndez Alcantarilla and Olivier Stasse and S{\'e}bastien Druon and Luis Miguel Bergasa and Frank Dellaert},
  journal={Auton. Robots},
  year={2013},
  volume={34},
  pages={47-71}
}
In this paper, we propose a real-time visionbased localization approach for humanoid robots using a single camera as the only sensor. In order to obtain an accurate localization of the robot, we first build an accurate 3D map of the environment. In the map computation process, we use stereo visual SLAM techniques based on non-linear least squares optimization methods (bundle adjustment). Once we have computed a 3D reconstruction of the environment, which comprises of a set of camera poses… CONTINUE READING
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