SIFT를 이용한 주행로봇의 자세 추정 알고리즘

초록

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. 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.