Identification of 3d reference structures for video-based localization

Abstract

The bootstrap-problem o/self-localization in indoor environments is a demanding task for initial localization and topological navigation. The ability to determine the position in an a priori known or already explored environment allows unsupervised use of mobile robots in environments such as private households. This paper presents our approach to identify a given set of known reference structures in a three-dimensional map of the local environment. This map is constructed from the data extracted by a line-based stereo camera system mounted on a mobile vehicle. We present the method used to identify objects and to compute the vehicle's position in a world frame.