4-DOF pose estimation of a pipe crawling robot using a Collimated Laser, a conic mirror, and a fish-eye camera.
Abbasali Dehghan TezerjaniMehran MehrandezhRaman B. ParanjapePublished in: SSIAI (2014)
Keyphrases
- pose estimation
- fish eye
- position and orientation
- field of view
- focal length
- radial distortion
- vanishing points
- degrees of freedom
- straight line
- mobile robot
- multiple cameras
- d objects
- feature points
- rotation and translation
- computer vision
- human body
- vision system
- camera calibration
- camera pose
- path planning
- pose estimates
- light source
- moving camera
- camera parameters
- stereo pair
- depth images
- high resolution
- line correspondences
- perspective projection
- hough transform
- camera positions
- line segments
- stereo vision
- joint angles