Objectives:
Spiders have
multiple eyes. In some cases as much as eight eyes. Those eyes however have in
many cases an effective arrangement (located around the body) that allow precise
estimation of self or targets motion.
Goals:
- Review of
methodologies for acquiring 3D self location based in two or more cameras;
- Mount a number
of cameras and connect them to a computer;
- Design of a
positioning system based in multiple cameras fixed in a mobile robot;
- Uncertainty
analysis of the position estimation process.
Requirements (grades, required courses, etc):
Current average
grade >= 15
Localization:
ISR / IST
Observations:
Geometric computer
vision provides a number of freeware tools helping the specific problem of this
dissertation. In particular it is expected to study and use the freeware tool
"OpenGV".
Keywords: Rigs of
multiple cameras, Multiple-cameras motion, Visual odometry,
Ego-motion, OpenGV
More information about this project:
http://users.isr.ist.utl.pt/~jag/msc/msc_2017_2018.html