Computer Vision Final Project
Robot Localization Using an Omnicamera
Fidicuals vs PCA
Amin Atrash
Michael Kaess
Ernest Merrill
Purpose
The purpose of this project is to use vision techniques for localization
of a robot in an indoor enviornment using an omnicam. One technique
will involve a finding fiducials in the enviornment and using a Kalman
filter to localize. A second technique will involve using a Principle
Component Analysis(PCA) of the images to localize. These are both based
on previous work by [Dellaert].
Equipment
Finding Fiducials
Predicting Fiducials and the Kalman Filter
PCA
References
Code
Last modified: Thu Dec 6 09:50:31 EST 2001