Under the planar movement assumption, robot motion is described by 3 variables: 2 translations and 1 rotation on the ground plane.
The localization task is performed in two steps:
- Rough Localization:
Hough Transform for determining 1 translation and 1 rotation variables + Odometry
for determining the other translation variable.
- Fine data matching and motion estimation: Image Correlation
searching in the space of robot's locations.
Original images
Rectified images (from stereo depth information)
Image correlation (by minimizing image difference)
