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어안 워핑 이미지 기반의 Ego Motion을 이용한 위치 인식 알고리즘
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- Authors
- 최윤원, 최경식, 최정원, 이석규
- Issue Date
- 2014-01
- Citation
- 제어로봇시스템학회논문지, v.20, no.1, pp.70-77
- ISSN
- 1976-5622
- Publisher
- 제어로봇시스템학회
- Language
- Korean
- Type
- Journal Article
- 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 360째 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.
- KSP Keywords
- Ego-motion, Fish-eye, Global vision, Image Sensor, Localization systems, Lucas-Kanade optical flow, Motion Vector(MV), Omnidirectional images, Panoramic image, Real-Time, Vanishing point