Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2014.13.1935

Localization using Ego Motion based on Fisheye Warping Image  

Choi, Yun Won (Automotive IT Platform Research Team, ETRI)
Choi, Kyung Sik (Secondary Vocational Education Policy Division, Ministry of Education)
Choi, Jeong Won (Department of Automatic Electrical Engineering, Yeungnam College of Science & Technology)
Lee, Suk Gyu (Department of Electrical Engineering, Yeungnam University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.1, 2014 , pp. 70-77 More about this Journal
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 $360^{\circ}$ 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.
Keywords
omnidirectional vision; vision slam; fish-eye lens; ego-motion; optical flow;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
연도 인용수 순위
1 E Menegatti, A Pretto, A Scarpa, and E. Pagello, "Omnidirectional vision scan matching for robot localization in dynamic environments," IEEE Transactions on Robotics, vol. 22, no. 3, pp. 523-535, Jun. 2006.   DOI
2 H. J. Sohn and B. K. Kim, "An efficient localization algorithm based on vector matching for mobile robots using laser range finders," Journal of Intelligent and Robotic Systems Archive, vol. 51, no. 4, pp. 461-488, Apr. 2008.   DOI
3 S. J. Yoon, W. S. Han, S. K. Min, and K. S. Roh, "Global localization of mobile robots using omni-directional images," Transactions of the KSME(in Korean), vol. 31, no. 4, pp. 517-524, 2007.   과학기술학회마을   DOI   ScienceOn
4 Y. Yagi, "Omni-directional sensing and its applications," IEICE Transactions on Information and Systems, vol. E82-D, no. 3, pp. 568-579, Mar. 1999.
5 T. E. Boult, R. Micheals, X. Gao, P. Lewis, C. Power, W. Yin, and A. S. Erkan, "Frame-rate omnidirectional surveillance and tracking of camouflaged and occluded and targets," Second IEEE Workshop on, pp. 48-55, Jun. 1999.
6 V. N. Peri and S. K. Nayar, "Generation of perspective and panoramic video from omnidirectional video," Proc. of DARPA Image Understanding Workshop, New Orleans, May 1997.
7 K. Miyamoto, "Fish eye lens," Journal of Optical Society of America, vol. 54, pp. 1060-1061, Aug. 1964.   DOI
8 A. Basu, and S. Licardie, "Alternative models for fish-eye lenses," Pattern Recognition Letters, vol. 16, pp. 433-441, 1995.   DOI   ScienceOn
9 S. M. Kim, J. H. Lee, S. G. Roh, and S. Y. Park, "The study of pre-processing algorithm for improving efficiency of optical flow method on ultrasound image," Journal of IEEK(in Korean), vol. 47, no. 5, pp. 24-32, Sep. 2010.   과학기술학회마을
10 J. Chang, "Digital image translational and rotational motion stabilization using optical flow technique," IEEE Transactions on Consumer Electronics, vol. 48, no. 1, pp. 108-115, Feb. 2002.   DOI   ScienceOn
11 J. R. Kim, M. S. Lim, and J. H. Lim, "Omni camera vision-based localization for mobile robots navigation using omnidirectional images," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 3, pp. 206-210, Apr. 2011.   DOI   ScienceOn
12 M. A. Fischler and R. C. Bolles, "Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography," Communications of the ACM, vol. 24, no. 6, pp. 381-395, Jun. 1981.   DOI   ScienceOn
13 M. Irani, B. Rousso and S. Peleg, "Recovery of ego-motion using image stabilization," Proc. of IEEE Computer Society Conference on, pp. 454-460, 1994.
14 T. Gandhi, and M. Trivedi, "Parametric ego-motion estimation for vehicle surround analysis using an omnidirectional camera," Machine Vision and Application, vol. 16, no. 2, pp. 85-95, Feb. 2005.   DOI
15 S. Y. Lee, "Use of optical flow information with three cameras for robot navigation," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 2, pp. 110-117, Feb. 2012.   과학기술학회마을   DOI   ScienceOn
16 T. Y. Tian, C. Tomasi, and D. J. Heeger, "Comparison of approaches to egomotion computation," Proc. of IEEE Computer Society Conference on, pp. 315-320, 1996.