Omnidirectional Vision-Based Robot Localization using Vertical Line Matching and Detection of Vanishing Point and Floor Region using Edge Orientation Information
Date Issued
2012
Date
2012
Author(s)
Yang, Jun-Yu
Abstract
For a mobile robot, it is necessary to have the ability to move accurately and autonomously in an unknown environment. The localization, vanishing point detection, and floor region detection problem all have a close relation to this ability. If the robot is able to localize itself, it can move accurately. Besides, the robot can explore the environment autonomously and securely with knowing the vanishing points and the floor region.
Vision sensors such as camera are attractive devices since they are information-rich. Compared with monocular cameras, omnidirectional cameras provide a larger field of view and complete information about the surroundings. In this thesis, the methods to solve the tasks related to localization, vanishing point detection, and floor region detection are proposed. All the methods are based on the omnidirectional vision.
For localization problem, this problem is divided into rotation measurement and translation measurement. The rotation angle of robot is measured by vertical line matching (VLM) using two consecutive omnidirectional images. The translation distance is calculated by a basic device, namely encoder.
For vanishing point detection problem, the orientation information in the panoramic image is computed by the Sobel edge detection. Next, the orientation information is analyzed in two ways: local dominant orientation signature (LDOS) and slope trend. Therefore, two different approaches for detecting vanishing points are presented.
For floor region detection problem, we propose a method imitating the way range finders detect the closest objects with the Canny edge detection. To realize the directions of floor, the vanishing point information serves as the prior knowledge. Finally, for the purpose of detecting floor more conveniently when navigation, an integrated approach combined with vanishing point detection and floor region detection is provided.
The results of simulation of vertical line matching in different cases validate the feasibility of the algorithm to compute the rotation angle. In addition, the methods to solve the three tasks (i.e., localization, vanishing point detection, and floor region detection) are performed in various indoor environments such as library and corridor. The experiment results will be shown and compared with the results from laser range finder.
Subjects
omnidirectional camera
panorama
vision localization system
vanishing point detection
floor region detection
Type
thesis
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