Advanced SearchSearch Tips
Geometric Formulation of Rectangle Based Relative Localization of Mobile Robot
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Geometric Formulation of Rectangle Based Relative Localization of Mobile Robot
Lee, Joo-Haeng; Lee, Jaeyeon; Lee, Ahyun; Kim, Jaehong;
  PDF(new window)
A rectangle-based relative localization method is proposed for a mobile robot based on a novel geometric formulation. In an artificial environment where a mobile robot navigates, rectangular shapes are ubiquitous. When a scene rectangle is captured using a camera attached to a mobile robot, localization can be performed and described in the relative coordinates of the scene rectangle. Especially, our method works with a single image for a scene rectangle whose aspect ratio is not known. Moreover, a camera calibration is unnecessary with an assumption of the pinhole camera model. The proposed method is largely based on the theory of coupled line cameras (CLC), which provides a basis for efficient computation with analytic solutions and intuitive geometric interpretation. We introduce the fundamentals of CLC and describe the proposed method with some experimental results in simulation environment.
localization;camera calibration;rectangle reconstruction;coupled line cameras (CLC);
 Cited by
Lane-Level Positioning based on 3D Tracking Path of Traffic Signs, Journal of Korea Robotics Society, 2016, 11, 3, 172  crossref(new windwow)
Se, Stephen, David Lowe, and Jim Little, "Mobile robot localization and mapping with uncertainty using scaleinvariant visual landmarks." The international Journal of robotics Research, vol. 21, no. 8, pp. 735-758, 2002. crossref(new window)

Shaw, David, and Nick Barnes, "Perspective Rectangle Detection," In Proc. of the Workshop of the Application of Computer Vision, in conjunction with ECCV 2006, 2006.

Hartl, Andreas, and Gerhard Reitmayr, "Rectangular target extraction for mobile augmented reality applications." In Pattern Recognition (ICPR), 2012 21st International Conference on, pp. 81-84. IEEE, 2012.

Korah, Thommen, and Christopher Rasmussen, "2D lattice extraction from structured environments." In Image Processing, 2007. ICIP 2007. IEEE International Conference on, vol. 2, pp. II-61. IEEE, 2007.

Elloumi, Wael, Sylvie Treuillet, and Rémy Leconge, "Realtime camera orientation estimation based on vanishing point tracking under Manhattan World assumption." Journal of Real-Time Image Processing, pp. 1-16, 2014.

Triggs, Bill, Philip F. McLauchlan, Richard I. Hartley, and Andrew W. Fitzgibbon. "Bundle adjustment-a modern synthesis." In Vision algorithms: theory and practice, pp. 298-372. Springer Berlin Heidelberg, 2000.

Szeliski, R. 2010, Computer Vision: Algorithms and Applications, Springer.

Hartley, R. and Zisserman, A., 2003, Multiple View Geometry in Computer Vision, Cambridge University Press.

J.-H. Lee, 2012, "Camera Calibration from a Single Image based on Coupled Line Cameras and Rectangle Constraint," In Pattern Recognition (ICPR), 2012 21st International Conference on, pp. 758-762.

J.-H. Lee, "A New Solution for Projective Reconstruction Based on Coupled Line Cameras," ETRI Journal, vol. 35, no. 5, pp. 939-942, 2013. crossref(new window)

J.-H. Lee, "New Geometric Interpretation and Analytic Solution for Quadrilateral Reconstruction," In Pattern Recognition (ICPR), 2014 22nd International Conference on, pp. 4015-4020, 2014.

J.-H. Lee, "Single View Reconstruction of Cuboids and Transformation in Perspective," ETRI Technical Report, 2015.

J.-H. Lee, "An Asnalytic Solution to Projector Pose Estimation Problem," ETRI Journal, vol. 34, no. 6, pp. 978-981, 2012. crossref(new window)

J. Lee, J.-H. Lee, and J. Kim, "Analysis on Coupled Line Cameras using Projective Geometry," In PSIVT Workshop on Vision Meets Graphics, Nov., 2015.

Lagunovsky, Dmitry, and Sergey Ablameyko. "Straightline- based primitive extraction in grey-scale object recognition." Pattern Recognition Letters 20, no. 10, pp. 1005-1014, 1999. crossref(new window)

C. R. Jung and R. Schramm, "Rectangle Detection Based On A Windowed Hough Transform," In Proc. 17th SIBGRAPI, pp.113 -120, 2004.

Zhang, Zhengyou, and Li-wei He. "Note-taking with a camera: whiteboard scanning and image enhancement." In Acoustics, Speech, and Signal Processing, 2004. Proceedings.(ICASSP'04). IEEE International Conference on, vol. 3, pp. iii-533. IEEE, 2004.

Keller, Christoph Gustav, Christoph Sprunk, Claus Bahlmann, Jan Giebel, and Gregory Baratof. "Real-time recognition of US speed signs." In Intelligent Vehicles Symposium, 2008 IEEE, pp. 518-523. IEEE, 2008.

von Gioi, Rafael Grompone, et al. "LSD: A Fast Line Segment Detector With A False Detection Control," IEEE Transactions on Pattern Analysis & Machine Intelligence, 4 (2008): 722-732.

M.-K. Jung and J.-B. Song, "Robust Global Localization based on Environment map through Sensor Fusion," Journal of Korea Robotics Society, vol. 9, no. 2, pp. 96-103, 2014. crossref(new window)

H. Hwan and J.-B. Song, "Global Localization Based on Ceiling Image Map," Journal of Korea Robotics Society, vol. 9, no. 3, pp. 170-177, 2014. crossref(new window)

Lee, J.-H., "Geometric Method for Detection of Image Quadrilateral," In Circuits/Systems, Computers and Communications (ITC-CSCC), 2015 the 30th International Technical Conference on, pp. 482-48.

Doucet, Arnaud, Simon Godsill, and Christophe Andrieu, "On sequential Monte Carlo sampling methods for Bayesian filtering," Statistics and computing, vol. 10, no. 3 pp. 197-208, 2000.

Pomarico-Franquiz, Juan, Sanowar H. Khan, and Yuriy S. Shmaliy, "Combined extended FIR/Kalman filtering for indoor robot localization via triangulation." Measurement 50, pp. 236-243, 2014. crossref(new window)

A. Lee, J.-H. Lee, J.-H., and Lee, "Sampling-based Control of SAR System Mounted on A Simple Manipulator," Transactions of the Society of CAD/CAM Engineers, vol. 19, no 4, pp. 356-367, 2014.