Circle-marker detection method for omnidirectional images and its application to robot positioning

Yoshihiko Mochizuki, Atsushi Imiya, Akihiko Torii

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

In this paper, we develop an algorithm for the detection of circles from an image captured by a monocular omnidirectional camera system. We assume that an image captured by an omnidirectional camera system is normalised to a spherical image, the image on the unit sphere. Using this geometrical property of the omnidirectional images, we introduce a method for marker-based positioningand navigation of autonomous mobile robots which mounts a monocular omnidirectional camera system. We first clarify the geometric properties of the spherical image of a circle marker placed on the ground plane, and we show that, for the detection of a plane from circle markers, we are required to capture at least two coplanar circle markers. We prove that the image of a circle on the spherical image is a fourth-order algebraic curve, which is the intersection of a sphere and an oblique elliptic cone. For the detection of marker images on the spherical images, we introduce a method for transforming the detection of this fourth-order algebraic curve to the detection of a spatial conic, which is quadric. Second, we develop a voting method for the extraction of images of planar circle markers on a spherical image, using the spatial-quadric detection strategy. Finally, using the assumption for the geometrical configuration of the camera system and the circle markers on the plane on which the robot moves, we derive a positioningalgorithm. This positioning-method for the robot mounting a monocular omnidirectional camera system allows us to navigate a robot using our circle-detection algorithm. We show some numerical examples both for synthetic and real images.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Computer Vision
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE 11th International Conference on Computer Vision, ICCV - Rio de Janeiro
Duration: 2007 Oct 142007 Oct 21

Other

Other2007 IEEE 11th International Conference on Computer Vision, ICCV
CityRio de Janeiro
Period07/10/1407/10/21

Fingerprint

Cameras
Robots
Mountings
Mobile robots
Cones
Navigation

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition

Cite this

Mochizuki, Y., Imiya, A., & Torii, A. (2007). Circle-marker detection method for omnidirectional images and its application to robot positioning. In Proceedings of the IEEE International Conference on Computer Vision [4409209] https://doi.org/10.1109/ICCV.2007.4409209

Circle-marker detection method for omnidirectional images and its application to robot positioning. / Mochizuki, Yoshihiko; Imiya, Atsushi; Torii, Akihiko.

Proceedings of the IEEE International Conference on Computer Vision. 2007. 4409209.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mochizuki, Y, Imiya, A & Torii, A 2007, Circle-marker detection method for omnidirectional images and its application to robot positioning. in Proceedings of the IEEE International Conference on Computer Vision., 4409209, 2007 IEEE 11th International Conference on Computer Vision, ICCV, Rio de Janeiro, 07/10/14. https://doi.org/10.1109/ICCV.2007.4409209
Mochizuki Y, Imiya A, Torii A. Circle-marker detection method for omnidirectional images and its application to robot positioning. In Proceedings of the IEEE International Conference on Computer Vision. 2007. 4409209 https://doi.org/10.1109/ICCV.2007.4409209
Mochizuki, Yoshihiko ; Imiya, Atsushi ; Torii, Akihiko. / Circle-marker detection method for omnidirectional images and its application to robot positioning. Proceedings of the IEEE International Conference on Computer Vision. 2007.
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