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

Yoshihiko Mochizuki, Atsushi Imiya, Akihiko Torii

研究成果: Conference contribution

7 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトルProceedings of the IEEE International Conference on Computer Vision
DOI
出版物ステータスPublished - 2007
外部発表Yes
イベント2007 IEEE 11th International Conference on Computer Vision, ICCV - Rio de Janeiro
継続期間: 2007 10 142007 10 21

Other

Other2007 IEEE 11th International Conference on Computer Vision, ICCV
Rio de Janeiro
期間07/10/1407/10/21

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Cameras
Robots
Mountings
Mobile robots
Cones
Navigation

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition

これを引用

Mochizuki, Y., Imiya, A., & Torii, A. (2007). Circle-marker detection method for omnidirectional images and its application to robot positioning. : 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.

研究成果: Conference contribution

Mochizuki, Y, Imiya, A & Torii, A 2007, Circle-marker detection method for omnidirectional images and its application to robot positioning. : 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. : 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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