| 摘要 |
The method involves extracting (1) a set of rectilinear contours (11) in each of images successively produced by an image sensor (7) carried by a mobile. The contours are classified (2) into subsets allowing identification of a possible horizontal leak point (12) and vertical rectilinear contours (13). Attitude (15) of the image sensor is estimated (3), and a horizontal leak point (16) is detected. Trajectory (18) of the mobile and position of vertical edges (19) in a built medium are estimated (4). Errors and a plane of flat vertical walls (21) visible from the trajectory are estimated (5). The image sensor is a monocular video camera. An independent claim is also included for a system for locating a mobile evolving in a built medium. |
