Browse > Article
http://dx.doi.org/10.3745/KIPSTB.2007.14-B.3.163

A Moving Camera Localization using Perspective Transform and Klt Tracking in Sequence Images  

Jang, Hyo-Jong (SFA DSP설비연구소)
Cha, Jeong-Hee (숭실대학교 정보미디어기술연구소)
Kim, Gye-Young (숭실대학교 컴퓨터학부)
Publication Information
The KIPS Transactions:PartB / v.14B, no.3, 2007 , pp. 163-170 More about this Journal
Abstract
In autonomous navigation of a mobile vehicle or a mobile robot, localization calculated from recognizing its environment is most important factor. Generally, we can determine position and pose of a camera equipped mobile vehicle or mobile robot using INS and GPS but, in this case, we must use enough known ground landmark for accurate localization. hi contrast with homography method to calculate position and pose of a camera by only using the relation of two dimensional feature point between two frames, in this paper, we propose a method to calculate the position and the pose of a camera using relation between the location to predict through perspective transform of 3D feature points obtained by overlaying 3D model with previous frame using GPS and INS input and the location of corresponding feature point calculated using KLT tracking method in current frame. For the purpose of the performance evaluation, we use wireless-controlled vehicle mounted CCD camera, GPS and INS, and performed the test to calculate the location and the rotation angle of the camera with the video sequence stream obtained at 15Hz frame rate.
Keywords
Localization; Perspective Transform; KLT Tracking; GPS; INS; Real time Calibration;
Citations & Related Records
연도 인용수 순위
  • Reference
1 F. Stein and G. Medioni, 'Map-based localization using the panoramic horizon', In IEEE International Conference on Robotics and Automation, Nice, France, May 1992   DOI
2 M.D. Ernst and B.E. Flinchbaugh. 'Image/map correspondence using curve matching', AAAI Symposium on Robot Navigation, pp.15-18, March 1989
3 Christos I. Colis, Panos E. Trahanias, A framework for visual landmark identification based on projective and point-permutation invariant vectors,Robotics and Autonomous Systems 35(2001) 37-51   DOI   ScienceOn
4 William B. Thompson, Bonnie H. Bernnett, Karen T. Sutherland, 'Geometric Reasoning for Map-based Localization', University of Utah Department of Computer Science Technical Report UUCS-96-006, May, 1996
5 W.B. Thompson, H.L.Pick Jr, B.H. Bennet, M.R. Heinrichs, S.L. Savitt, and K. Smith, 'Map-based localization: The 'drop-off' problem', Proc, DARPA Image Understanding Workshop, 1990
6 Berthold K.P.Horn, Closed-form solution of absolute orientation using unit quaternions, Journal of the Optical Society of America, Vol. 4, April 1987, pp.629-642   DOI
7 Hartley, R., Zisserman, A., 'Multiple View Geometry in Computer Vision,' Cambridge University Press, Cambridge, UK, 2000
8 Cramer, M.Stallmann, D.Haala, 'Direct Georeferencing Using GPS/Inertial Exterior Orientations For Photogrammetric Applications', International Archivers of Photogrammetry and Remote Sensing(2000), Vol. XXXI, Part B3, pp.198-205
9 William B. Thompson, Thomas C. Henderson, 'Vision-Based Localization', Proceedings of the ARPA Image Understanding Workshop, April, 1993
10 R. Talluri and J,K. Aggarwal, 'Image/map correspondence for mobile robot self-location using computer graphics', IEEE Trans. Patt. Anal. Mach. Intel., vol. 15, no. 6, pp. 597-601, 1993   DOI   ScienceOn
11 Carlo Tomasi and Takeo Kanade, 'Detection and Tracking of Point Features', Carnegie Mellon University Technical Report CMU-CS-91-132, April 1991
12 Harris, C. and Stephens, M., 'A combined comer and edge detector', In Forth Alvey Vision Conference, Menchester, UK, pp. 147-151, 1988
13 Robert M Haralick, 'Determination camera parameters from the perspective projection of a rectangle,' Pattern Recognition, Vol. 22, No.3, pp.225-230, 1989   DOI   ScienceOn