| Abstract: |  The goal of an European project called HUMAVIPS is to endow humanoids, robot Nao in particular, with audio visual capabilities, in order to improve the human--robot interaction and communication possibilities.
This thesis contributes to this challenging task by focusing on robot
localization and navigation, employing the visual input for 3D scene
reconstruction from images captured by the robot. A state of the art image processing pipeline SfMSeqv2 developed at CMP is modified for this purpose and successfully used for real-time Structure from Motion (SfM) computing. The reconstructed camera poses serve as a localization mechanism and the combination of localization and 3D scene reconstruction results in Simultaneous Localization And Mapping (SLAM). Several hardware specific issues encountered are tackled and described.
|
|---|