Landmark Direction Angle Estimation Based on Omnidirectional Image

摘要：

In order to estimate landmark direction angle to localize robot in an artificial environment based on omnidirectional image, this paper introduces the method about low pass filter noise elimination, artificial landmark features detection and landmark direction angle estimation algorithms. Landmark feature detection proposed that red landmark pixels beyond the threshold were extracted as a small area and the center of gravity was calculated for the extracted small area representing the candidate of one landmark. The blue patch provides as compensation to further distinguish the landmark from other objects in a complex environment. Two type experiments were done. The landmark detection experiment proved that the low-pass filter noise elimination was effective. Another experiment was conducted on the level cement ground in a 5×5-m area in the sunlight. 16 test positions were chose to test. Results showed that the MAE and RMSE of landmark direction angles were 1.12 degree and 1.30 degree, respectively. The proposed direction angle estimation method is high accuracy, low time-consuming computation and good robustness.

关键词： Robot Omnidirectional vision Landmark Direction anlge

作者: Ming Li Zhonghua Liu Jianan Huang Kenji Imou

作者单位: College of Engineering, Hunan Agricultural University Changsha,Hunan Province,China Natural Products Institute Hunan Agricultural University Changsha,Hunan Province,China Graduate School of Agricultural and Life Sciences The University of Tokyo Tokyo,Japan

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）