Wide-area egomotion from omnidirectional video and coarse 3D structure

This thesis describes a method for real-time vision-based localization in human-made environments. Given a coarse model of the structure (walls, floors, ceilings, doors and windows) and a video sequence, the system computes the camera pose (translation and rotation) in model coordinates with an accuracy of a few centimeters in translation and a few degrees in rotation. The system has several novel aspects: it performs 6-DOF localization; it handles visually cluttered and dynamic environments; it scales well over regions extending through several buildings; and it runs over several hours without losing lock. We demonstrate that the localization problem can be split into two distinct problems: an initialization phase and a maintenance phase. In the initialization phase, the system determines the camera pose with no other information than a search region provided by the user (building, floor, area, room). This step is computationally intensive and is run only once, at startup. We present a probabilistic method to address the initialization problem using a RANSAC framework. In the maintenance phase, the system keeps track of the camera pose from frame to frame without any user interaction.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2007

Author dc:creator

• Koch, Olivier (Olivier A.)

Advisor dc:contributor.advisor

• Seth Teller.

• Electrical Engineering and Computer Science.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/38668

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/38668