Location and pose estimation for active vision using panoramic edge histograms

نویسندگان

  • Caihua Wang
  • Hideki Tanahashi
  • Yutaka Satoh
  • Hidekazu Hirayu
  • Yoshinori Niwa
  • Kazuhiko Yamamoto
چکیده

あらまし 本論文は,環境の全周囲情報を取得できるカメラシステム(全方位センサ)で得られた画像を用い てセンサの位置と姿勢をロバストに推定する新しい手法を提案する.本手法は,まず環境中のいくつかの参照点 において,全方位センサで得られた画像から全周囲エッジヒストグラムをあらかじめ計算しておく.センサの位 置・姿勢を推定する際,動的計画法 (DP)を 2 パス DPに拡張して現位置と参照点の全周囲エッジヒストグラム をマッチングし,各方位角におけるエッジのシフト量を求める.これらのシフト量は sin 曲線と同じ周期性をも ち,センサの回転はエッジの全体的なシフト量に,その移動方向は sin 曲線の 0 位相に対応する.本研究では, これらのエッジシフト量から全体のシフト量とその周期の 0 位相を独立に当てはめることによって,センサの移 動方向と回転角度を効率的に推定する.最後に,最も近い二つの参照点に対する移動方向からセンサの正確な位 置を計算する.実環境での実験により提案手法の有効性を示す. キーワード 全方位センサ,位置姿勢推定,全周囲エッジヒストグラム,DP マッチング

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عنوان ژورنال:
  • Systems and Computers in Japan

دوره 35  شماره 

صفحات  -

تاریخ انتشار 2004