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Global Localization of Mobile Robot Using Omni-directional Image Correlation

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Advances in Image and Video Technology (PSIVT 2006)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 4319))

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Abstract

This paper presents a localization method using circular correlation of omni-directional image. Mobile robot localization, especially in indoor conditions, is a key component in the development of service robots. Though stereo vision is widely used to find location, the performance is limited due to computational complexity and its view angle. To compensate for this, we utilize a single omni-directional camera which can capture 360( panoramic images around a robot at one time. Position of a mobile robot can be estimated by the correlation between CHL (Circular Horizontal Line) of the landmark image and CHL of image captured at the robot position. To accelerate computation, correlation values are calculated based on FFT (Fast Fourier Transform) and to increase reliability, CHLs are warped and correlation values are recalculated. Experimental results and performance in the real home environment show the feasibility of the method.

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Author information

Authors and Affiliations

  1. Mechatronics & Manufacturing Technology Center, Samsung Electronics CO., LTD., 416 Maetan-3Dong, Yeongtong-Gu, Suwon Shi, Gyeonggi Do, Rep. of Korea

    Sukjune Yoon, Woosup Han, Seung Ki Min & Kyung Shik Roh

Authors
  1. Sukjune Yoon
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  2. Woosup Han
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  3. Seung Ki Min
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  4. Kyung Shik Roh
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Editor information

Editors and Affiliations

  1. Department of Computer Science, National Tsing Hua University, HsinChu, Taiwan

    Long-Wen Chang

  2. Department of Electrical Engineering, National Chung Cheng University, 621, Chia-Yi, Taiwan, ROC

    Wen-Nung Lie

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© 2006 Springer-Verlag Berlin Heidelberg

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Yoon, S., Han, W., Min, S.K., Roh, K.S. (2006). Global Localization of Mobile Robot Using Omni-directional Image Correlation. In: Chang, LW., Lie, WN. (eds) Advances in Image and Video Technology. PSIVT 2006. Lecture Notes in Computer Science, vol 4319. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11949534_43

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  • DOI: https://doi.org/10.1007/11949534_43

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-68297-4

  • Online ISBN: 978-3-540-68298-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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