An Algorithm for a pose estimation of a robot using Scale-Invariant feature Transform

  • 이재광 (인하대학교 전기공학과) ;
  • 허욱열 (인하대학교 전기공학과) ;
  • 김학일 (인하대학교 정보통신공학부)
  • Published : 2004.11.12

Abstract

This paper describes an approach to estimate a robot pose with an image. The algorithm of pose estimation with an image can be broken down into three stages : extracting scale-invariant features, matching these features and calculating affine invariant. In the first step, the robot mounted mono camera captures environment image. Then feature extraction is executed in a captured image. These extracted features are recorded in a database. In the matching stage, a Random Sample Consensus(RANSAC) method is employed to match these features. After matching these features, the robot pose is estimated with positions of features by calculating affine invariant. This algorithm is implemented and demonstrated by Matlab program.

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