Structure from motion using omni-directional vision and certainty grids
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Date
2004-11-15
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Texas A&M University
Abstract
This thesis describes a method to create local maps from an omni-directional vision
system (ODVS) mounted on a mobile robot. Range finding is performed by a
structure-from-motion method, which recovers the three-dimensional position of objects
in the environment from omni-directional images. This leads to map-making,
which is accomplished using certainty grids to fuse information from multiple readings
into a two-dimensional world model. The system is demonstrated both on noise-free
data from a custom-built simulator and on real data from an omni-directional vision
system on-board a mobile robot. Finally, to account for the particular error characteristics
of a real omni-directional vision sensor, a new sensor model for the certainty
grid framework is also created and compared to the traditional sonar sensor model.
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Keywords
omni-directional vision, structure from motion, certainty grids, mobile robotics