Abstract
A method is proposed for real-time vision-based localization in the 360° area around a three-dimensional (3D) reference object with a single camera. The problem is split into three subproblems. First, 360° 3D object recognition is proposed, in which a computer vision solution can recognize a reference object from all possible 360° locations. Second, 360° pose estimation is presented, in which the pose of a robot at all locations is estimated. Third, a 360° localization application is integrated with a closed-loop real-time trajectory tracking controller. The successful results of simulations and real experiments of trajectory tracking are also presented.
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