NDLI: Image based rendering for a mobile robot using visual landmarks

Content Provider	IEEE Xplore Digital Library
Author	Otsuka, K. Tanaka, K. Okada, N. Kondo, E.
Copyright Year	2005
Description	Author affiliation: Graduate Sch. of Eng., Kyushu Univ., Fukuoka, Japan (Otsuka, K.; Tanaka, K.; Okada, N.; Kondo, E.)
Abstract	Image based rendering (IBR) is one of standard approaches to view synthesis. IBR would be very important for human-robot interface system (HRI) such as a teleoperation system, since the synthesized views are helpful for a human user to understand the robot's operating environment. In this paper, we address the problem of IBR on images taken by a mobile robot. Main difficulty of our problem is that the viewpoint locations of input (real) images are not precisely known, due to estimation errors inherent in the positioning systems. To solve this problem, we will propose a novel IBR method, where the location uncertainty is reduced using a visual landmark, which is commonly used in mobile robotics. In addition, novel priors on real images are introduced to regularize the IBR problem. As a result, IBR can be performed successfully under the location uncertainty.
Starting Page	875
Ending Page	880
File Size	426124
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545558
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Rendering (computer graphics) Mobile robots Pixel Uncertainty Computer vision Inverse problems Estimation error Human robot interaction Image recognition Robot control
Content Type	Text
Resource Type	Article

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