How to Localize Humanoids with a Single Camera ?
|Title||How to Localize Humanoids with a Single Camera ?|
|Publication Type||Journal Article|
|Year of Publication||2013|
|Authors||Alcantarilla, PF, Stasse, O, Druon, S, Bergasa, LM, Dellaert, F|
In this paper, we propose a real-time vision-based 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 (keyframes) and a list of 3D points, we learn the visibility of the 3D points by exploiting all the geometric relationships between the camera poses and 3D map points involved in the reconstruction. Finally, we use the prior 3D map and the learned visibility prediction for monocular vision-based localization. Our algorithm is very efficient, easy to implement and more robust and accurate than existing approaches. By means of visibility prediction we predict for a query pose only the highly visible 3D points,