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Proceedings Paper

Dynamic omni-directional vision localization using a beacon tracker based on particle filter
Author(s): Zuoliang Cao; Shiyu Liu
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Paper Abstract

Omni-directional vision navigation for AGVs appears definite significant since its advantage of panoramic sight with a single compact visual scene. This unique guidance technique involves target recognition, vision tracking, object positioning, path programming. An algorithm for omni-vision based global localization which utilizes two overhead features as beacon pattern is proposed in this paper. An approach for geometric restoration of omni-vision images has to be considered since an inherent distortion exists. The mapping between image coordinates and physical space parameters of the targets can be obtained by means of the imaging principle on the fisheye lens. The localization of the robot can be achieved by geometric computation. Dynamic localization employs a beacon tracker to follow the landmarks in real time during the arbitrary movement of the vehicle. The coordinate transformation is devised for path programming based on time sequence images analysis. The beacon recognition and tracking are a key procedure for an omni-vision guided mobile unit. The conventional image processing such as shape decomposition, description, matching and other usually employed technique are not directly applicable in omni-vision. Particle filter (PF) has been shown to be successful for several nonlinear estimation problems. A beacon tracker based on Particle Filter which offers a probabilistic framework for dynamic state estimation in visual tracking has been developed. We independently use two Particle Filters to track double landmarks but a composite algorithm on multiple objects tracking conducts for vehicle localization. We have implemented the tracking and localization system and demonstrated the relevant of the algorithm.

Paper Details

Date Published: 10 September 2007
PDF: 10 pages
Proc. SPIE 6764, Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision, 67640U (10 September 2007); doi: 10.1117/12.733862
Show Author Affiliations
Zuoliang Cao, Tianjin Univ. of Technology (China)
Shiyu Liu, Tianjin Univ. of Technology (China)

Published in SPIE Proceedings Vol. 6764:
Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Röning, Editor(s)

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