Constructing a 3-D map of rubble by teleoperated mobile robots with a motion canceling camera system.
Yasuyoshi YokokohjiMasamitsu KurisuTakao SaidaYosuke KudoKoichiro HayashiTsuneo YoshikawaPublished in: IROS (2003)
Keyphrases
- mobile robot
- robot moves
- camera motion
- robot motion
- motion control
- autonomous navigation
- motion planning
- visual servoing
- map building
- outdoor environments
- robotic arm
- object motion
- path planning
- loop closing
- image sequences
- ego motion
- autonomous robots
- fixed camera
- moving camera
- field of view
- dynamic environments
- topological map
- reference frame
- perspective images
- real time
- robotic systems
- camera movement
- indoor environments
- position and orientation
- visual odometry
- camera images
- structure from motion
- line features
- video sequences
- moving objects
- optical flow
- motion parameters
- ground plane
- motion analysis
- motion model
- multi robot
- point features
- motion estimation
- robot control
- image motion
- multi camera
- surveillance system
- focal length
- epipolar geometry
- collision free
- rotation and translation
- autocalibration
- simultaneous localization and mapping
- human walking
- rotational motion
- degrees of freedom
- minimally invasive surgery
- end effector
- uncalibrated cameras