AVICMAL · Advanced vision based concurrent mapping and localization
FP6 — Marie Curie Actions (Human Resources and Mobility)
- Duration
- 2006-09-01 → 2007-08-31
- EU contribution
- €77,242
- Participants
- 1
- Scheme
- EIF
Lines connect the coordinator with its partners.
Results in brief
Final Activity Report Summary - AVICMAL (Advanced Vision Based Concurrent Mapping and Localization)
The objective of this project was to improve the understanding of how an autonomous mobile agent can localise itself in the environment using computer vision. Initially, we proposed to complement known vision-based concurrent localisation and mapping techniques with recent advances in pure relative localisation (visual odometry). However, in the implementation phase, we mainly addressed separate mapping and localisation in order to take advantage of the results we achieved after the application to this concourse. The performed work involves five distinct research directions: 1. autonomous navigation based on separate mapping and localisation procedures; 2. performance evaluation of different closed-form algorithms for recovering the relative orientation in two-view geometry; 3. concurrent localisation and mapping with a calibrated stereo rig; 4. assembling and calibrating a 4DOF setup for controlled motion; 5. collaboration with Gerald Schweighofer on his novel algorithm for stereo structure and motion. The obtained results are as follows: 1. The work in autonomous navigation, which was the subject of the previous position of the postdoctoral fellow, has been completed and presented at CVPR07 and ACIVS07. A more comprehensive account of the performed work has been submitted to CVIU. Autonomous motion of a car-like vehicle over paths several hundreds meters long has been achieved, by relying exclusively on a single perspective camera. 2. To explain somewhat worse navigation results in mainly planar environments, we performed a comprehensive performance evaluation of closed-form algorithms for recovering the relative orientation in two-view geometry. The results indicate that there is performance degradation in the planar case even with the five-point algorithm. We also proposed a novel explanation of the so-called forward bias which arises when eight-point algorithm is applied to a noisy dataset. The results have been presented at OAGM07 and BenCOS07 (held with CVPR07), and submitted to PAMI. 3. A known software application for monocular concurrent localisation and mapping (LibScene by Andrew Davison) has been extended to accommodate the operation
Data: CORDIS, © European Union
Project objective
We consider vision-based navigation of a mobile agent (e.g. an autonomous robot or a wearable device) within an unknown, possibly wide environment. A wandering" scenario is assumed, in which the agent often returns to places, which have been visited before, so that concurrent localization and mapping is required.Although the focus of the proposal is on computer vision, we are also interested in robust fusion with inertial and other sensors. Due to huge computational complexity, real time applications of vision based structure and motion estimation have not been proposed until recently. The few successful approaches are capable of mapping (i.e. perceiving to be at a previously visited location) only in very limited indoor environments or not capable at all.In order to alleviate real time requirements, we propose an adaptive vertical perception architecture, in which the basic behaviours (relative localization) are assigned to lower layers, while more complex procedures for absolute localization are placed higher. Such architecture allows for graceful performance degradation, since higher-level behaviours can be suppressed when very fast camera motion is perceived and video frame rate is required.On the other hand, when the camera is moving slowly, the expensive procedures for estimating and mapping the structure of the scene can be triggered, allowing for reliable repeatable localizations without compromising the basic functionality. At the top level, we are interested in an extended setup with several mobile agents and a common remote host providing improved mapping and localization services.The task of the service host would be to fuse higher-level landmark measurements received from mobile agents into a coherent overall map of the environment. Benefits o f such overall organization would include improving individual performance by allowing agents to build on experiences of their peers, as well as establishing a foundation for coordinated activities."
Original text from CORDIS.
Participants
- GRAZ UNIVERSITY OF TECHNOLOGY · GRAZCoordinatorAustria
Links
Data: CORDIS, © European Union