Abstract
In this paper, a markerless approach for estimating the pose of a robot using only 3D visual information is presented. As opposite to traditional methods, our approach makes use of 3D features solely for determining a relative position between the imaged scene (e.g. landmarks present on site) and the robot. Such a landmark is calculated from stored 3D map of the environment. The recognition of the landmark is performed via a 3D Object Retrieval (3DOR) search engine. The presented pose estimation technique produces a reliable and accurate pose information which can be further used for complex scene understanding and/or navigation. The performance of the proposed approach has been evaluated against a traditional marker-based position estimation library.
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Cocias, T.T., Grigorescu, S.M., Moldoveanu, F. (2014). Indoor Pose Estimation Using 3D Scene Landmarks for Service Robotics. In: Kóczy, L., Pozna, C., Kacprzyk, J. (eds) Issues and Challenges of Intelligent Systems and Computational Intelligence. Studies in Computational Intelligence, vol 530. Springer, Cham. https://doi.org/10.1007/978-3-319-03206-1_15
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DOI: https://doi.org/10.1007/978-3-319-03206-1_15
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