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http://dx.doi.org/10.5391/JKIIS.2011.21.4.442

A Study on Fisheye Lens based Features on the Ceiling for Self-Localization  

Choi, Chul-Hee (대구대학교 전자공학과)
Choi, Byung-Jae (대구대학교 전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.21, no.4, 2011 , pp. 442-448 More about this Journal
Abstract
There are many research results about a self-localization technique of mobile robot. In this paper we present a self-localization technique based on the features of ceiling vision using a fisheye lens. The features obtained by SIFT(Scale Invariant Feature Transform) can be used to be matched between the previous image and the current image and then its optimal function is derived. The fisheye lens causes some distortion on its images naturally. So it must be calibrated by some algorithm. We here propose some methods for calibration of distorted images and design of a geometric fitness model. The proposed method is applied to laboratory and aile environment. We show its feasibility at some indoor environment.
Keywords
Natural landmark; SIFT(Scale Invariant Feature Transform); Self-localization; Ceiling vision; SLAM(Simultaneous Localization and Mapping); Fitness model;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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