Global Localization of Mobile Robot Using Omni-directional Image Correlation
This paper presents a localization method using circular correlation of omni-directional image. Mobile robot localization, especially in indoor conditions, is a key component in the development of service robots. Though stereo vision is widely used to find location, the performance is limited due to...
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| creator | Yoon, Sukjune Han, Woosup Min, Seung Ki Roh, Kyung Shik |
| description | This paper presents a localization method using circular correlation of omni-directional image. Mobile robot localization, especially in indoor conditions, is a key component in the development of service robots. Though stereo vision is widely used to find location, the performance is limited due to computational complexity and its view angle. To compensate for this, we utilize a single omni-directional camera which can capture 360( panoramic images around a robot at one time. Position of a mobile robot can be estimated by the correlation between CHL (Circular Horizontal Line) of the landmark image and CHL of image captured at the robot position. To accelerate computation, correlation values are calculated based on FFT (Fast Fourier Transform) and to increase reliability, CHLs are warped and correlation values are recalculated. Experimental results and performance in the real home environment show the feasibility of the method. |
| doi_str_mv | 10.1007/11949534_43 |
| format | Conference Proceeding |
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Mobile robot localization, especially in indoor conditions, is a key component in the development of service robots. Though stereo vision is widely used to find location, the performance is limited due to computational complexity and its view angle. To compensate for this, we utilize a single omni-directional camera which can capture 360( panoramic images around a robot at one time. Position of a mobile robot can be estimated by the correlation between CHL (Circular Horizontal Line) of the landmark image and CHL of image captured at the robot position. To accelerate computation, correlation values are calculated based on FFT (Fast Fourier Transform) and to increase reliability, CHLs are warped and correlation values are recalculated. Experimental results and performance in the real home environment show the feasibility of the method.</description><identifier>ISSN: 0302-9743</identifier><identifier>ISBN: 9783540682974</identifier><identifier>ISBN: 354068297X</identifier><identifier>EISSN: 1611-3349</identifier><identifier>EISBN: 3540682988</identifier><identifier>EISBN: 9783540682981</identifier><identifier>DOI: 10.1007/11949534_43</identifier><language>eng</language><publisher>Berlin, Heidelberg: Springer Berlin Heidelberg</publisher><subject>Applied sciences ; Artificial intelligence ; Circular correlation ; Computer science; control theory; systems ; Control theory. Systems ; Exact sciences and technology ; Global localization ; Mobile robot ; Omni-directional image ; Panoramic image ; Pattern recognition. Digital image processing. Computational geometry ; Robotics</subject><ispartof>Advances in Image and Video Technology, 2006, p.433-441</ispartof><rights>Springer-Verlag Berlin Heidelberg 2006</rights><rights>2007 INIST-CNRS</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/11949534_43$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/11949534_43$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>309,310,775,776,780,785,786,789,4036,4037,27902,38232,41418,42487</link.rule.ids><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=19008251$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><contributor>Lie, Wen-Nung</contributor><contributor>Chang, Long-Wen</contributor><creatorcontrib>Yoon, Sukjune</creatorcontrib><creatorcontrib>Han, Woosup</creatorcontrib><creatorcontrib>Min, Seung Ki</creatorcontrib><creatorcontrib>Roh, Kyung Shik</creatorcontrib><title>Global Localization of Mobile Robot Using Omni-directional Image Correlation</title><title>Advances in Image and Video Technology</title><description>This paper presents a localization method using circular correlation of omni-directional image. Mobile robot localization, especially in indoor conditions, is a key component in the development of service robots. Though stereo vision is widely used to find location, the performance is limited due to computational complexity and its view angle. To compensate for this, we utilize a single omni-directional camera which can capture 360( panoramic images around a robot at one time. Position of a mobile robot can be estimated by the correlation between CHL (Circular Horizontal Line) of the landmark image and CHL of image captured at the robot position. To accelerate computation, correlation values are calculated based on FFT (Fast Fourier Transform) and to increase reliability, CHLs are warped and correlation values are recalculated. Experimental results and performance in the real home environment show the feasibility of the method.</description><subject>Applied sciences</subject><subject>Artificial intelligence</subject><subject>Circular correlation</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Exact sciences and technology</subject><subject>Global localization</subject><subject>Mobile robot</subject><subject>Omni-directional image</subject><subject>Panoramic image</subject><subject>Pattern recognition. Digital image processing. Computational geometry</subject><subject>Robotics</subject><issn>0302-9743</issn><issn>1611-3349</issn><isbn>9783540682974</isbn><isbn>354068297X</isbn><isbn>3540682988</isbn><isbn>9783540682981</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2006</creationdate><recordtype>conference_proceeding</recordtype><recordid>eNpNkEtPwzAQhM1LopSe-AO-cOAQ8HptJz6iCkqloEqIni07cSpDGldxL_DrcXlI7GVXmm9WoyHkCtgtMFbeAWihJQoj8IhcoBRMVVxX1TGZgAIoEIU-ITNdVn9aKU7JhCHjRT7xnMxSemN5EKSuYELqRR-d7WkdG9uHT7sPcaCxo8_Rhd7Tl-jinq5TGDZ0tR1C0YbRNwcoe5Zbu_F0HsfR99_GS3LW2T752e-ekvXjw-v8qahXi-X8vi52HPS-cExzzQGdb60qZem4Z7JVLqdWTOtW8k7LptRedigUooJOtKr0LWux4tLilFz__N3ZlGN3ox2akMxuDFs7fhjQjGUOMnfzw6UsDRs_GhfjezLAzKFO869O_AJR6WDK</recordid><startdate>2006</startdate><enddate>2006</enddate><creator>Yoon, Sukjune</creator><creator>Han, Woosup</creator><creator>Min, Seung Ki</creator><creator>Roh, Kyung Shik</creator><general>Springer Berlin Heidelberg</general><general>Springer</general><scope>IQODW</scope></search><sort><creationdate>2006</creationdate><title>Global Localization of Mobile Robot Using Omni-directional Image Correlation</title><author>Yoon, Sukjune ; Han, Woosup ; Min, Seung Ki ; Roh, Kyung Shik</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-p219t-b0929213beda6757b2e05d6b7836099d52f95c79e5f3463361f4d67ed0d3825a3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2006</creationdate><topic>Applied sciences</topic><topic>Artificial intelligence</topic><topic>Circular correlation</topic><topic>Computer science; control theory; systems</topic><topic>Control theory. Systems</topic><topic>Exact sciences and technology</topic><topic>Global localization</topic><topic>Mobile robot</topic><topic>Omni-directional image</topic><topic>Panoramic image</topic><topic>Pattern recognition. Digital image processing. Computational geometry</topic><topic>Robotics</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Yoon, Sukjune</creatorcontrib><creatorcontrib>Han, Woosup</creatorcontrib><creatorcontrib>Min, Seung Ki</creatorcontrib><creatorcontrib>Roh, Kyung Shik</creatorcontrib><collection>Pascal-Francis</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Yoon, Sukjune</au><au>Han, Woosup</au><au>Min, Seung Ki</au><au>Roh, Kyung Shik</au><au>Lie, Wen-Nung</au><au>Chang, Long-Wen</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Global Localization of Mobile Robot Using Omni-directional Image Correlation</atitle><btitle>Advances in Image and Video Technology</btitle><date>2006</date><risdate>2006</risdate><spage>433</spage><epage>441</epage><pages>433-441</pages><issn>0302-9743</issn><eissn>1611-3349</eissn><isbn>9783540682974</isbn><isbn>354068297X</isbn><eisbn>3540682988</eisbn><eisbn>9783540682981</eisbn><abstract>This paper presents a localization method using circular correlation of omni-directional image. Mobile robot localization, especially in indoor conditions, is a key component in the development of service robots. Though stereo vision is widely used to find location, the performance is limited due to computational complexity and its view angle. To compensate for this, we utilize a single omni-directional camera which can capture 360( panoramic images around a robot at one time. Position of a mobile robot can be estimated by the correlation between CHL (Circular Horizontal Line) of the landmark image and CHL of image captured at the robot position. To accelerate computation, correlation values are calculated based on FFT (Fast Fourier Transform) and to increase reliability, CHLs are warped and correlation values are recalculated. Experimental results and performance in the real home environment show the feasibility of the method.</abstract><cop>Berlin, Heidelberg</cop><pub>Springer Berlin Heidelberg</pub><doi>10.1007/11949534_43</doi><tpages>9</tpages></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 0302-9743 |
| ispartof | Advances in Image and Video Technology, 2006, p.433-441 |
| issn | 0302-9743 1611-3349 |
| language | eng |
| recordid | cdi_pascalfrancis_primary_19008251 |
| source | Springer Books |
| subjects | Applied sciences Artificial intelligence Circular correlation Computer science control theory systems Control theory. Systems Exact sciences and technology Global localization Mobile robot Omni-directional image Panoramic image Pattern recognition. Digital image processing. Computational geometry Robotics |
| title | Global Localization of Mobile Robot Using Omni-directional Image Correlation |
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