Vision-based 3-D trajectory tracking for unknown environments

  title={Vision-based 3-D trajectory tracking for unknown environments},
  author={Parvaneh Saeedi and Peter D. Lawrence and David G. Lowe},
  journal={IEEE Transactions on Robotics},
This paper describes a vision-based system for 3-D localization of a mobile robot in a natural environment. The system includes a mountable head with three on-board charge-coupled device cameras that can be installed on the robot. The main emphasis of this paper is on the ability to estimate the motion of the robot independently from any prior scene knowledge, landmark, or extra sensory devices. Distinctive scene features are identified using a novel algorithm, and their 3-D locations are… CONTINUE READING
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