Artificial Landmark Model and Tracking Algorithm for Omnidirectional Localization System

摘要：

In our developed localization system for auto navigation based on omnidirectional vision, we used artificial landmarks. In order to distinguish landmarks from natural environments effectively in a bigger application area, this paper analyzes the correlations between the landmark image size and landmark position, landmark height and camera height. Then to propose a landmark model with the right circular cone made of red and blue patches and a fast landmark tracking algorithm based on color intensity difference. Outdoor experiments were conducted with the bottom diameter of landmark was 25 cm and the height about 100 cm under natural sunlight in a 50x50-m square area to verify the artificial landmark model and tracking algorithm. Experimental results show that proposed landmark model is feasible and landmark features to be detected effectively. The RMS error of x-axis, y-axis and distance are 29.75 cm, 17.32 cm and 34.24 cm, respectively. The artificial landmark design and tracking algorithm are applicable for localization system.

关键词： Localization artificial landmark omnidirectional vision image processing

作者: Ming Li Kenji Imou Mingliang Wu Yi Pei Bangsong Yao

作者单位: College of Engineering, Hunan Agricultural University, Changsha, China Dep.of Biological and Environmental Engineering, the University of Tokyo, Tokyo, Japan

会议类型: 国际会议

会议名称: 2010 International Conference on Image Analysis and Signal Processing(2010 图像分析与信号处理国际会议 IASP 10)

会议地点: 厦门

会议语种:英文

页码: 312-317

在线出版日期: 2010-04-12（万方平台首次上网日期，不代表论文的发表时间）