| Presentation | 2002/10/11 Location and Pose Estimation for Active Vision Using Edge Histograms of Omni-directional Images Caihua WANG, Hideki TANAHASHI, Yutaka SATO, Hidekazu HIRAYU, Yoshinori NIWA, Kazuhiko YAMAMOTO, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | This paper proposes a new method for location and pose estimation of active vision using histograms of omni-directional images acquired by Stereo Omni-directional System (SOS). In this method, the omni-directional images are acquired at some reference points, and their edge histograms are computed and stored. When the location and pose of SOS are estimated, we first match the edge histograms of the omni-directional images obtained at present location and that obtained at reference points using a two-passes DP method, to find the edge shift in each horizontal angle. The edge shifts of different horizontal angles have the same periodic features as sin curve, where the constant shift item and the 0 phase of sin curve correspond to the relative rotation and movement direction of SOS, respectively. Then, the relative rotation and movement direction of SOS are estimated by independently fitting the constant shift item and the 0 phase of sin curve using the edges shifts. Finally, the location and pose of SOS are computed using the relative rotations and movement directions to two reference points which are closest to the current location of SOS. Experimental results in a real environment show the effectiveness and robustness of the proposed method. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | omni-directional image / location and pose estimation / edge histogram / DP matching |
| Paper # | NC2002-62 |
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| Committee | NC |
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| Conference Date | 2002/10/11(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Location and Pose Estimation for Active Vision Using Edge Histograms of Omni-directional Images |
| Sub Title (in English) | |
| Keyword(1) | omni-directional image |
| Keyword(2) | location and pose estimation |
| Keyword(3) | edge histogram |
| Keyword(4) | DP matching |
| 1st Author's Name | Caihua WANG |
| 1st Author's Affiliation | HOIP Project, Softopia Japan and JST() |
| 2nd Author's Name | Hideki TANAHASHI |
| 2nd Author's Affiliation | HOIP Project, Softopia Japan and JST |
| 3rd Author's Name | Yutaka SATO |
| 3rd Author's Affiliation | HOIP Project, Softopia Japan and JST |
| 4th Author's Name | Hidekazu HIRAYU |
| 4th Author's Affiliation | HOIP Project, Softopia Japan and JST |
| 5th Author's Name | Yoshinori NIWA |
| 5th Author's Affiliation | HOIP Project, Softopia Japan and JST |
| 6th Author's Name | Kazuhiko YAMAMOTO |
| 6th Author's Affiliation | Department of Information Science, Faculty of Engineering, Gifu University |
| Date | 2002/10/11 |
| Paper # | NC2002-62 |
| Volume (vol) | vol.102 |
| Number (no) | 382 |
| Page | pp.pp.- |
| #Pages | 6 |
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