8 October 2007 Distortion and scale estimation for robust tag registration
Author Affiliations +
Proceedings Volume 6718, Optomechatronic Computer-Vision Systems II; 671804 (2007) https://doi.org/10.1117/12.754544
Event: International Symposium on Optomechatronic Technologies, 2007, Lausanne, Switzerland
This paper proposes a new method to estimate distortion for template matching. Matching object images from scenes to pre-obtained reference images is necassary for robot mobility, but matching error due to distortion of images ramains a problem. There are two measures of distortion: "scale" which represents the distortion of distance from an object to the robot determined using a camera, and "directional distortion" which represents the distortion of direction that is due to the relative postures and positions of objects to the mobile robot. The latter is considered to involve rotation around the vertical axis, the y-axis, of the image plane. The paper proposes the Orthogaonal Projection Distortion method (OPD) to estimate directional distortion and uses it with the image correction method to improve similarity. We demonstrate the effectiveness of the approach experimentally using actual images.
© (2007) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Io Nakayama, Io Nakayama, Hidenori Takauji, Hidenori Takauji, Shun'ichi Kaneko, Shun'ichi Kaneko, Takayuki Tanaka, Takayuki Tanaka, } "Distortion and scale estimation for robust tag registration", Proc. SPIE 6718, Optomechatronic Computer-Vision Systems II, 671804 (8 October 2007); doi: 10.1117/12.754544; https://doi.org/10.1117/12.754544


Qualitative navigation using isolated landmarks
Proceedings of SPIE (May 03 1993)
Mobile robot Kasia with early vision based on CNN
Proceedings of SPIE (April 25 2006)
Path planning for mobile robot using sonar map and neural...
Proceedings of SPIE (October 05 1998)
Issues And Options For A Mars Rover
Proceedings of SPIE (December 31 1986)
Vision robot with rotational camera for searching ID tags
Proceedings of SPIE (February 13 2008)

Back to Top