Position and pose computation of a moving camera using geometric edge matching for visual SLAM

초록

A prerequisite component of a autonomous mobile vehicle system is the self localization ability to recognize its environment and to estimate where it is. Generally, we can determine the position and the pose using homography approach, but it has errors especially in simultaneous change of position and pose. In this paper, we proposed position and pose computation method of a camera through analysis of images obtained from camera equipped mobile robot. Proposed method is made up of two steps. First step is to extract feature points and matching in sequential images. Second step is to compute the accurate camera position and pose using geometric edge matching. In first step, we use KLT tracking to extract feature points and matching in sequential images. In second step, we propose an iterative matching method between predicted edge models through perspective transform using the result calculated by homography of the matched feature points and generated edge models in correspond points till there is no variation in matching error. For the purpose of the performance evaluation, we performed the test to compensate the position and the pose of the camera installed in wireless-controlled vehicle with the video sequence stream obtained at 15Hz frame rate and show the experimental results. © Springer-Verlag Berlin Heidelberg 2007.