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Abstract: We report on experiments with a mobile robot using one vision process (forward motion vision) to calibrate another (stereo vision) without resorting to any external units of measurement. Both are calibrated to a velocity dependent coordinate system which is natural to the task of obstacle avoidance. The foundations of these algorithms, in a world of perfect measurement, are quite elementary. The contribution of this work is to make them noise tolerant while remaining simple computationally.... (Update)
Context of citations to this paper: More
...[6] we use image features tracked over multiple frames. All these researchers together with Maybank Faugeras [14] and Brooks et al. [4] emphasize the benefits of self calibration, a paradigm which well describes the present work in which no special objects are...
...task for our current set up. Some of the existing mobile camera or auto adjustment calibration techniques might permit this [18, 23, 4, 20]. Motion model The current motion model that we use for the system cannot really represent actual long term motion behaviour. In an...
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BibTeX entry: (Update)
R. A. Brooks, A. M. Flynn and T. Marill. Self calibration of motion and stereo vision for mobile robot navigation. In Proceedings: Image Understanding Workshop, Volume 1, 1988. http://citeseer.ist.psu.edu/brooks87self.html More
@techreport{ brooks87self,
author = "Rodney A. Brooks and Anita M. Flynn and Thomas Marill",
title = "Self Calibration of Motion and Stereo Vision for Mobile Robot Navigation",
number = "AIM-984",
pages = "25",
year = "1987",
url = "citeseer.ist.psu.edu/brooks87self.html" }
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