一个有关移动机器人定位的视觉传感器模型外文文献翻译、中英文翻译.docVIP

- PAGE 2 - XX 设计(XX)外文资料翻译 院 系 专 业 学生姓名 班级学号 外文出处 Machine Vision and Applications 指导教师评语 指导老师签名： 日期 A Visual-Sensor Model for Mobile Robot Localisation Matthias Fichtner Axel Gro_mann Arti_cial Intelligence Institute Department of Computer Science Technische Universitat Dresden Technical Report WV-03-03/CL-2003-02 Abstract We present a probabilistic sensor model for camera-pose estimation in hallways and cluttered o_ce environments. The model is based on the comparison of features obtained from a given 3D geometrical model of the environment with features present in the camera image. The techniques involved are simpler than state-of-the-art photogrammetric approaches. This allows the model to be used in probabilistic robot localisation methods. Moreover, it is very well suited for sensor fusion. The sensor model has been used with Monte-Carlo localisation to track the position of a mobile robot in a hallway navigation task. Empirical results are presented for this application. 1 Introduction The problem of accurate localisation is fundamental to mobile robotics. To solve complex tasks successfully, an autonomous mobile robot has to estimate its current pose correctly and reliably. The choice of the localization method generally depends on the kind and number of sensors, the prior knowledge about the operating environment, and the computing resources available. Recently, vision-based navigation techniques have become increasingly popular [3]. Among the techniques for indoor robots, we can distinguish methods that were developed in the _eld of photogrammetry and computer vision, and methods that have their origin in AI robotics. An important technical contribution to the development of vision-based navigation techniques was the work by [10] on the recognition of 3D-objects from unknown viewpoints in single images using scale-invariant features. Later, this technique was