Robust Invariants From Functionally Constrained Motion

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Technical Reports (CIS)
General Robotics, Automation, Sensing and Perception Laboratory
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Hicks, Andrew R.
Bajcsy, Ruzena
Pettey, David
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We address in the problem of control-based recovery of robot pose and the environmental lay-out. Panoramic sensors provide us with an 1D projection of characteristic features of a 2D operation map. Trajectories of these projections contain the information about the position of a priori unknown landmarks in the environment. We introduce here the notion of spatiotemporal signatures of projection trajectories. These signatures are global measures, like area, characterized by considerably higher robustness with respect to noise and outliers than the commonly applied point correspondence. By modeling the 2D motion plane as the complex plane we show that by means of complex analysis our method can be embedded in the well-known affine reconstruction paradigm.

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1998-07-01
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University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-98-08.
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