JRM Vol.21 No.3 pp. 376-383
doi: 10.20965/jrm.2009.p0376


View-Based Localization Using Head-Mounted Multi Sensors Information

Hiroaki Yaguchi, Nikolaus Zaoputra, Naotaka Hatao, Kimitoshi Yamazaki, Kei Okada, and Masayuki Inaba

The University of Tokyo, Graduate School of Information Science and Technology
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

October 2, 2008
February 28, 2009
June 20, 2009
view-based navigation, omnidirectional vision, sensor fusion
In view-based navigation, view sequences are constructed by considering only the appearance of images. This approach can work only in limited situation, because the structure of environment and camera poses with 3D camera motion is not considered. In this paper, we construct a multi sensor system using an omnidirectional camera, a motion sensor and laser range finders. Using this system, we propose a method of construction view sequence, that takes 3D camera poses into account.
Cite this article as:
H. Yaguchi, N. Zaoputra, N. Hatao, K. Yamazaki, K. Okada, and M. Inaba, “View-Based Localization Using Head-Mounted Multi Sensors Information,” J. Robot. Mechatron., Vol.21 No.3, pp. 376-383, 2009.
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