Presentation 2007-02-22
Positioning of Robot by Circular Marker and Omni-directional Camera
Yoshihiko MOCHIZUKI, Atsushi IMIYA, Akihiko TORII,
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Abstract(in English) In this paper, we introduce a method for marker-based positioning and navigation for autonomous mobile robots mounting omni-directional camera system. We first develop a voting method for the extraction of planer circles from spherical image. Secondly using a geometrical configuration assumption on the camera system, we derive a positioning algorithm. This positioning method allows us to navigate a robot using our algorithm for positioning.
Keyword(in Japanese) (See Japanese page)
Keyword(in English) Omni-directional Camera / Navigation / The Hough Transform / Spherical Images / Spatial Quadric
Paper # PRMU2006-212,HIP2006-105
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Conference Information
Committee PRMU
Conference Date 2007/2/15(1days)
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Paper Information
Registration To Pattern Recognition and Media Understanding (PRMU)
Language ENG
Title (in Japanese) (See Japanese page)
Sub Title (in Japanese) (See Japanese page)
Title (in English) Positioning of Robot by Circular Marker and Omni-directional Camera
Sub Title (in English)
Keyword(1) Omni-directional Camera
Keyword(2) Navigation
Keyword(3) The Hough Transform
Keyword(4) Spherical Images
Keyword(5) Spatial Quadric
1st Author's Name Yoshihiko MOCHIZUKI
1st Author's Affiliation School of Science and Technology, Chiba University()
2nd Author's Name Atsushi IMIYA
2nd Author's Affiliation IMIT, Chiba University
3rd Author's Name Akihiko TORII
3rd Author's Affiliation Center for Machine Perception, Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague
Date 2007-02-22
Paper # PRMU2006-212,HIP2006-105
Volume (vol) vol.106
Number (no) 538
Page pp.pp.-
#Pages 6
Date of Issue