Localization using ego motion based on fisheye warping image

Title
Localization using ego motion based on fisheye warping image
Author(s)
이석규최윤원[최윤원]최경식[최경식]최정원[최정원]
Keywords
Algorithms; Cameras; Lenses; Motion estimation; Optical flows; Robots; Tracking (position); Distortion correction; Ego motion; Fish-eye lens; Localization algorithm; Multiple camera images; Omni-directional vision; Omnidirectional image; Omnidirectional image sensors; Image processing
Issue Date
201401
Citation
Journal of Institute of Control, Robotics and Systems, v.20, no.1, pp.70 - 77
Abstract
This paper proposes a novel localization algorithm based on ego-motion which used Lucas-Kanade Optical Flow and warping image obtained through fish-eye lenses mounted on the robots. The omnidirectional image sensor is a desirable sensor for real-time view-based recognition of a robot because the all information around the robot can be obtained simultaneously. The preprocessing (distortion correction, image merge, etc.) of the omnidirectional image which obtained by camera using reflect in mirror or by connection of multiple camera images is essential because it is difficult to obtain information from the original image. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous 360�� panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we extract motion vectors using Lucas-Kanade Optical Flow in preprocessed image. Third, we estimate the robot position and angle using ego-motion method which used direction of vector and vanishing point obtained by RANSAC. We confirmed the reliability of localization algorithm using ego-motion based on fisheye warping image through comparison between results (position and angle) of the experiment obtained using the proposed algorithm and results of the experiment measured from Global Vision Localization System. ? ICROS 2014.
URI
http://hdl.handle.net/YU.REPOSITORY/33429http://dx.doi.org/10.5302/J.ICROS.2014.13.1935
ISSN
1976-5622
Appears in Collections:
공과대학 > 전기공학과 > Articles
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