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Departamento de electronica Universidad de Alcala

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    3D motion segmentation and 3D localization of mobile robots using an array of static cameras and objective function minimization

    Título3D motion segmentation and 3D localization of mobile robots using an array of static cameras and objective function minimization
    Tipo de publicaciónConference Paper
    Año de publicación2009
    AutoresLosada-Gutiérrez, C, Mazo, M, Palazuelos, SE, Pizarro, D, Marron, M, Redondo, F
    Idioma de publicaciónEnglish
    Conference NameIntelligent Signal Processing, 2009. WISP 2009. IEEE International Symposium on
    Páginas299 -304
    Fecha de publicación08/2009
    Palabras clave3D localization, 3D motion segmentation, image segmentation, mobile robots, objective function minimization, static cameras
    DOI10.1109/WISP.2009.5286549
    Resumen

    This paper presents a method for obtaining the 3D motion segmentation and 3D localization of mobile robots using an array of calibrated cameras that are placed in fixed positions within the environment. This proposal does not rely on previous knowledge or invasive landmarks on board the robots. The proposal is based on the minimization of an objective function. This function includes information of all the cameras and depends on three groups of variables: the segmentation boundaries, the 3D rigid motion parameters (linear and angular velocity components) and depth (distance to the cameras). For the objective function minimization, we use a greedy algorithm that, after initialization, consists of three iterative steps. The use of multiple cameras increases notably the system robustness against occlusions and lighting changes. The accuracy of the results is also improved with regard to the methods where a single camera is used.

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    wisp09_MotionSegmentation_Cris.pdf496.73 KB