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http://dx.doi.org/10.5302/J.ICROS.2011.17.3.206

Omni Camera Vision-Based Localization for Mobile Robots Navigation Using Omni-Directional Images  

Kim, Jong-Rok (Hanyang University)
Lim, Mee-Seub (Kyonggi Institute of Technology)
Lim, Joon-Hong (Hanyang University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.3, 2011 , pp. 206-210 More about this Journal
Abstract
Vision-based robot localization is challenging due to the vast amount of visual information available, requiring extensive storage and processing time. To deal with these challenges, we propose the use of features extracted from omni-directional panoramic images and present a method for localization of a mobile robot equipped with an omni-directional camera. The core of the proposed scheme may be summarized as follows : First, we utilize an omni-directional camera which can capture instantaneous $360^{\circ}$ panoramic images around a robot. Second, Nodes around the robot are extracted by the correlation coefficients of Circular Horizontal Line between the landmark and the current captured image. Third, the robot position is determined from the locations by the proposed correlation-based landmark image matching. To accelerate computations, we have assigned the node candidates using color information and the correlation values are calculated based on Fast Fourier Transforms. Experiments show that the proposed method is effective in global localization of mobile robots and robust to lighting variations.
Keywords
omni-directional camera; panoramic images; localization; mobile robots;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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