Rotation Estimation and Vanishing Point Extraction for Indoor Omnidirectional Images
Date Issued
2015
Date
2015
Author(s)
Shen, Chung-Chien
Abstract
Automatic navigation for mobile robots or unmanned vehicles becomes a more and more important ability, and this ability has a great deal to do with accurate rotation estimation. An omnidirectional camera, with a wider field of view compared with a traditional camera, can catch more visual information from the surroundings. The method using the information vertical lines in omnidirectional images is proposed to calculate two-dimensional rotation angles of the camera. But in three-dimensional environment, unmanned vehicles such as UAVs can move not only on a two-dimensional plane. It is necessary to propose methods to estimate three-dimensional rotation. Vanishing points in the environment would be the effective information for estimating the rotation of robots or unmanned vehicles. And in this thesis, the methods are proposed to solve the vanishing points extraction for omnidirectional images taken by an omnidirectional camera and to estimate rotation of the omnidirectional camera. For vanishing points extraction, we use edge detection for omnidirectional images to find out the boundary points and then link these points as line segments. After line detection and vanishing points extraction for these line segments, the directions information of vanishing points in the surroundings can be obtained and be applied for rotation estimation later. For camera calibration, we propose a method using lines in omnidirectional images to obtain camera intrinsic parameters, and the camera intrinsic parameters will be applied for line detection and vanishing points extraction later. Vanishing points extraction for omnidirectional images taken by the omnidirectional camera in the indoor environment would be applied to estimate the camera’s rotation. The results will be shown and compared with the results calculated by the method using vertical lines tracking.
Subjects
omnidirectional camera
omnidirectional image
vanishing points extraction
rotation estimation
camera calibration
Type
thesis
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