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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Mochizuki, Y. Imiya, A. Torii, A. |
| Copyright Year | 2007 |
| Description | Author affiliation: Chiba Univ., Chiba (Mochizuki, Y.; Imiya, A.; Torii, A.) |
| Abstract | Introduction In this paper, we develop an algorithm for the detection of circles from an image captured by a monocular omnidirectional camera system. We assume that an image captured by an omnidirectional camera system is normalised to a spherical image, the image on the unit sphere. Using this geometrical property of the omnidirectional images, we introduce a method for marker-based positioning and navigation of autonomous mobile robots which mounts a monocular omnidirectional camera system. We first clarify the geometric properties of the spherical image of a circle marker placed on the ground plane, and we show that, for the detection of a plane from circle markers, we are required to capture at least two coplanar circle markers. We prove that the image of a circle on the spherical image is a fourth-order algebraic curve, which is the intersection of a sphere and an oblique elliptic cone. For the detection of marker images on the spherical images, we introduce a method for transforming the detection of this fourth-order algebraic curve to the detection of a spatial conic, which is quadric. Second, we develop a voting method for the extraction of images of planar circle markers on a spherical image, using the spatial-quadric detection strategy. Finally, using the assumption for the geometrical configuration of the camera system and the circle markers on the plane on which the robot moves, we derive a positioning algorithm. This positioning method for the robot mounting a monocular omnidirectional camera system allows us to navigate a robot using our circle-detection algorithm. We show some numerical examples both for synthetic and real images. |
| Starting Page | 1 |
| Ending Page | 8 |
| File Size | 519248 |
| Page Count | 8 |
| File Format | |
| ISBN | 9781424416301 |
| ISSN | 15505499 |
| DOI | 10.1109/ICCV.2007.4409209 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2007-10-14 |
| Publisher Place | Brazil |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Cameras Robot vision systems Navigation Mobile robots Voting Equations Reconstruction algorithms Visual system Geometrical optics Optical imaging |
| Content Type | Text |
| Resource Type | Article |
| Subject | Computer Vision and Pattern Recognition Software |
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