We propose a full metric and accurate system based on identifying natural features belonging to the geometric structure of the robot. On most natural objects we can find points whose image projection can be tracked in the image plane www.selleckchem.com/products/MDV3100.html independently of the position the object occupies and based on local properties found in the image (i.e., lines, corners or color blobs). Those points are considered natural markers, as they serve as reference points in the image plane that can be easily relate with their three-dimensional counterparts. The set of methods focused on tracking natural markers have become a very successful and deeply studied topic in the literature [14, 15], as they represent the basic measurements of most of existing reconstruction methods.
Scene reconstruction from image measurements is a classic Inhibitors,Modulators,Libraries and mature discipline in the computer vision field. Among the wide amount of proposals it can be highlighted those grouped under the name ��Bundle Adjustment�� [16, 17]. Their aim is essentially to estimate, jointly and optimally, the 3D structure of a scene and the camera parameters from a set of images taken under some kind of motion. (i.e., it can be the camera that moves or equally some Inhibitors,Modulators,Libraries part of the scene w.r.t. the camera).In general terms, Bundle Adjustment reconstruction methods are based in iterative optimization methods which try to minimize the image discrepancy between the measured positions of the 3D model and the expected ones using the last iteration solution. The discrepancy balances the contribution of the measurements into the final solution and plays an important role in this paper.
Our main contribution is a redefinition of the discrepancy function using a Maximum Likelihood approach which takes into account the statistical distribution of the error. This distribution is especially affected by the odometry errors which are accumulative Inhibitors,Modulators,Libraries in long trajectories.On the other hand, once a geometric model is obtained using a structure-from-motion Inhibitors,Modulators,Libraries approach, its pose with respect to a global coordinate origin can be easily retrieved by measuring the projection of the model in the image plane. This problem, commonly known as the Perspective n Point Problem (PnP), has received considerable attention in the literature, where some accurate solutions are found such as [18] or the recent global solution proposed in [19].
In this paper we instead follow a filtering approach, where not
Ubiquitous computing is used to refer to an information environment in which computers Cilengitide are installed sellckchem everywhere, affecting all areas of a person��s life and operating autonomously in a network of linked computers to strongly support the modern human lifestyle. The ubiquitous networking system includes all the technologies needed for infrastructure that enables information to be exchanged anytime and anywhere through a high-speed, large-capacity, broadband network connecting homes, buildings and industrial systems, as shown in Figure 1 [1].