Pose estimation from projective transformations for visual guidance of a wheeled mobile robot

Juan Zheng; Rigoberto Juarez-Salazar; Victor H. Diaz-Ramirez

doi:10.1117/12.2569737

21 August 2020 Pose estimation from projective transformations for visual guidance of a wheeled mobile robot

Juan Zheng, Rigoberto Juarez-Salazar, Victor H. Diaz-Ramirez

Author Affiliations +

Proceedings Volume 11509, Optics and Photonics for Information Processing XIV; 115090J (2020) https://doi.org/10.1117/12.2569737
Event: SPIE Optical Engineering + Applications, 2020, Online Only

Abstract

Pose estimation is an essential task in many mobile robot navigation systems. Visual guidance provides a feasible means for pose estimation using the observed scene information as reference. This work presents an approach to estimate the pose of a mobile robot based on projective transformations. First, the Hough transform is used for lane detection. Next, a projective transformation is computed using the detected lines as reference. Finally, the robot's pose is estimated from the resulting projective transformation. The theoretical principles and computational implementation are analyzed. Experimental results of a visual navigation experiment are presented to validate the usefulness of the proposed approach.

Conference Presentation

Citation Download Citation

Juan Zheng, Rigoberto Juarez-Salazar, and Victor H. Diaz-Ramirez "Pose estimation from projective transformations for visual guidance of a wheeled mobile robot", Proc. SPIE 11509, Optics and Photonics for Information Processing XIV, 115090J (21 August 2020); https://doi.org/10.1117/12.2569737

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