Objectives:
A
robot equipped with multiple cameras may estimate more precisely self motion or
the motion of targets moving around. The positioning of the cameras is a
critical component to decide stereoscopy and omni-awareness.
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