Multiview Vision for Robots Navigation (id 9280)

 

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