REALTIME LOCALIZATION OF A CENTRAL CATADIOPTRIC CAMERA USING VERTICAL LINES

Bertrand Vandeportaele, Michel Cattoen, Philippe Marthon

Abstract

Catadioptric sensors are used in mobile robot localization because of their panoramic field of view. However most of the existing systems require a constant orientation of the camera and a planar motion, and thus the localization cannot be achieved in general for persons handling a camera. In this paper, we use the images of the vertical lines of indoor environment to localize in realtime the central catadioptric camera orientation and the 2D position. The pose detection is done in two steps. First, a two axes absolute rotation is computed to bring the vertical line images in vertical position on the viewing sphere. Then the 2D pose is estimated using a 2D map of the site.

References

  1. X. Ying, Z. Hu (2004). Catadioptric Line Features Detection using Hough Transform. In Proceedings of the 17th International Conference on Pattern Recognition, volume 4, pp 839-842, 2004.
  2. P. Vasseur and E. M. Mouaddib (2004). Central Catadioptric Line Detection. In BMVC, Kingston, Sept 2004.
  3. T.Pajdla, V.Hlavac (2001). Image-based self-localization by means of zero phase representation in panoramic images. In Proceedings of the 2nd International Conference on Advanced Pattern Recognition, March 2001.
  4. C. Geyer and K. Daniilidis (2001). Catadioptric Projective Geometry. In International Journal of Computer Vision , 45(3), pp. 223-243, 2001.
  5. C. Geyer and K. Daniilidis (1999). Catadioptric Camera Calibration. In Proceedings of the 7th International Conference on Computer Vision, volume 1, p. 398, 1999.
  6. R. Benosman and S. B. Kang (2001). Panoramic Vision. Springer, 2001.
  7. A. Briggs, Y. Li and D. Scharstein (2005). Feature Matching Across 1D Panoramas. In Proceedings of the OMNIVIS, 2005.
  8. O. Shakernia, R. Vidal, S. Sastry (2003). Structure from Small Baseline Motion with Central Panoramic Cameras. In the Fourth Workshop on Omnidirectional Vision, 2003
Download


Paper Citation


in Harvard Style

Vandeportaele B., Cattoen M. and Marthon P. (2006). REALTIME LOCALIZATION OF A CENTRAL CATADIOPTRIC CAMERA USING VERTICAL LINES . In Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, ISBN 972-8865-40-6, pages 416-421. DOI: 10.5220/0001370304160421


in Bibtex Style

@conference{visapp06,
author={Bertrand Vandeportaele and Michel Cattoen and Philippe Marthon},
title={REALTIME LOCALIZATION OF A CENTRAL CATADIOPTRIC CAMERA USING VERTICAL LINES},
booktitle={Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,},
year={2006},
pages={416-421},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001370304160421},
isbn={972-8865-40-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,
TI - REALTIME LOCALIZATION OF A CENTRAL CATADIOPTRIC CAMERA USING VERTICAL LINES
SN - 972-8865-40-6
AU - Vandeportaele B.
AU - Cattoen M.
AU - Marthon P.
PY - 2006
SP - 416
EP - 421
DO - 10.5220/0001370304160421