Dynamic omni-directional vision localization using a beacon tracker based on particle filter

Zuoliang Cao; Shiyu Liu

doi:10.1117/12.733862

10 September 2007 Dynamic omni-directional vision localization using a beacon tracker based on particle filter

Zuoliang Cao, Shiyu Liu

Proceedings Volume 6764, Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision; 67640U (2007) https://doi.org/10.1117/12.733862
Event: Optics East, 2007, Boston, MA, United States

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.

Citation Download Citation

Zuoliang Cao and Shiyu Liu "Dynamic omni-directional vision localization using a beacon tracker based on particle filter", Proc. SPIE 6764, Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision, 67640U (10 September 2007); https://doi.org/10.1117/12.733862

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