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Real-time 3D motion tracking for a mobile robot Saeedi, Parvaneh
Abstract
This thesis presents a vision-based tracking system suitable for autonomous robot vehicle guidance. The system includes a head with three on-board CCD cameras, called Triclops®, which can be mounted anywhere on a mobile vehicle. By processing consecutive trinocular sets of precisely aligned and rectified images, the local 37J trajectory of the vehicle in an unstructured environment can be tracked. The use of three cameras enables the system to construct an accurate representation of its environment and therefore results in accurate motion estimation. First, a 3D representation of stable corners in the image scene is generated using a stereo algorithm. Second, motion is estimated by tracking matched features over time. The motion equation with 6 degrees of freedom is then solved using an iterative least squares fit algorithm. Finally, a Kalman filter implementation is used to optimize the 3D representation of scene features in world coordinates. The system has been implemented on a Pentium processor in conjunction with a Triclops and a Matrox Meteor® frame grabber. The system is capable of detecting rotations with 3% error over a 90 degree rotation and translations with 13% average error over a 6m long path.
Item Metadata
Title |
Real-time 3D motion tracking for a mobile robot
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
1998
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Description |
This thesis presents a vision-based tracking system suitable for autonomous robot
vehicle guidance. The system includes a head with three on-board CCD cameras,
called Triclops®, which can be mounted anywhere on a mobile vehicle. By processing
consecutive trinocular sets of precisely aligned and rectified images, the local 37J
trajectory of the vehicle in an unstructured environment can be tracked.
The use of three cameras enables the system to construct an accurate representation
of its environment and therefore results in accurate motion estimation. First,
a 3D representation of stable corners in the image scene is generated using a stereo
algorithm. Second, motion is estimated by tracking matched features over time. The
motion equation with 6 degrees of freedom is then solved using an iterative least
squares fit algorithm. Finally, a Kalman filter implementation is used to optimize the
3D representation of scene features in world coordinates.
The system has been implemented on a Pentium processor in conjunction with a
Triclops and a Matrox Meteor® frame grabber. The system is capable of detecting
rotations with 3% error over a 90 degree rotation and translations with 13% average
error over a 6m long path.
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Extent |
14884003 bytes
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Genre | |
Type | |
File Format |
application/pdf
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Language |
eng
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Date Available |
2009-07-03
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Provider |
Vancouver : University of British Columbia Library
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Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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DOI |
10.14288/1.0064822
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Graduation Date |
1999-05
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Campus | |
Scholarly Level |
Graduate
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Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.