Torchlight navigation [Elektronisk resurs] / Michael Felsberg, Fredrik Larsson, Han Wang, Anders Ynnerman, Thomas Schön

• A common computer vision task is navigation and mapping. Many indoor navigation tasks require depth knowledge of flat, unstructured surfaces (walls, floor, ceiling). With passive illumination only, this is an ill-posed problem. Inspired by small children using a torchlight, we use a spotlight for active illumination. Using our torchlight approach, depth and orientation estimation of unstructured, flat surfaces boils down to estimation of ellipse parameters. The extraction of ellipses is very robust and requires little computational effort. 

Indexterm och SAB-rubrik

Torchlight ; Pose estimation ; Active illumination ; Plane estimation ; Ellipses