視覚による地上ロボットの深度推定と相対位置推定フレームワーク
A Framework for Depth Estimation and Relative Localization of Ground Robots using Computer Vision
カメラを搭載した2台の非ホロノミック地上ロボット間で、カメラの動きを陽に考慮して環境の3D深度を推定し、両カメラが観測した3D点をフィルタに統合して相対姿勢を推定するフレームワークを提案した。
著者: Romulo T. Rodrigues, Pedro Miraldo, Dimos V. Dimarogonas, A. Pedro Aguiar
分類: cs.RO, cs.CV
原文アブストラクト
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation problem aims at recovering the 3D information of the environment. The relative localization problem consists of estimating the relative pose between two robots, by sensing each other's pose or sharing information about the perceived environment. Most solutions for these problems use a set of discrete data without taking into account the chronological order of the events. This paper builds on recent results on continuous estimation to propose a framework that estimates the depth and relative pose between two non-holonomic vehicles. The basic idea consists in estimating the depth of the points by explicitly considering the dynamics of the camera mounted on a ground robot, and feeding the estimates of 3D points observed by both cameras in a filter that computes the relative pose between the robots. We evaluate the convergence for a set of simulated scenarios and show experimental results validating the proposed framework.
