Uncalibrated vision based on lines for robot navigation

  title={Uncalibrated vision based on lines for robot navigation},
  author={J GuerreroJ and C Sag{\"u}{\'e}s},
  • Guerrero J J, Sagüés C
  • Published 2005
In this paper, we study an uncalibrated monocular vision system based on lines for robot navigation in man-made environments. Neither environment a priori map is used nor euclidean reconstruction is obtained. The method is based on the extracted straight lines, supposing the robot moves on a plane ground. The effect in the image of camera rotation is computed from the homography of the line at infinity. From corresponding vertical lines in two uncalibrated images both, the robot heading and a… CONTINUE READING
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