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Two Camera System for Robot Applications; Navigation
Publication Type:
Conference/Workshop Paper
Venue:
13th IEEE International Conference on Emerging Technologies and Factory Automation, 2008. (ETFA 2008)
Abstract
Current approaches to feature detection and matching
in images strive to increase the repeatability of the detector
and minimize the degree of outliers in the matching.
In this paper we present a conflicting approach; we suggest
that a lower performance feature detector can produce
a result more than adequate for robot navigation irrespectively
of the amount of outliers. By using an FPGA
together with two cameras we can remove the need for
descriptors by performing what we call spurious matching
and the use of 3D landmarks. The approach bypasses
the problem of outliers and reduces the time consuming
task of data association, which slows many matching algorithms.
Bibtex
@inproceedings{Lidholm1342,
author = {J{\"o}rgen Lidholm and Fredrik Ekstrand and Lars Asplund},
title = {Two Camera System for Robot Applications; Navigation},
pages = {345--352},
month = {September},
year = {2008},
booktitle = {13th IEEE International Conference on Emerging Technologies and Factory Automation, 2008. (ETFA 2008)},
publisher = {IEEE},
url = {http://www.es.mdu.se/publications/1342-}
}