Conference proceeding
Position and pose computation of a moving camera using geometric edge matching for visual SLAM
HUMAN-COMPUTER INTERACTION, PT 3, PROCEEDINGS, v 4552(3), pp 634-641
01 Jan 2007
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
A prerequisite component of a autonomous mobile vehicle system is the self localization ability to recognize its environment and to estimate where it is. Generally, we can determine the position and the pose using homography approach, but it has errors especially in simultaneous change of position and pose. In this paper, we proposed position and pose computation method of a camera through analysis of images obtained from camera equipped mobile robot. Proposed method is made up of two steps. First step is to extract feature points and matching in sequential images. Second step is to compute the accurate camera position and pose using geometric edge matching. In first step, we use KLT tracking to extract feature points and matching in sequential images. In second step, we propose an iterative matching method between predicted edge models through perspective transform using the result calculated by homography of the matched feature points and generated edge models in correspond points till there is no variation in matching error. For the purpose of the performance evaluation, we performed the test to compensate the position and the pose of the camera installed in wireless-controlled vehicle with the video sequence stream obtained at 15Hz frame rate and show the experimental results.
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Details
- Title
- Position and pose computation of a moving camera using geometric edge matching for visual SLAM
- Creators
- HyoJong Jang - Soongsil UniversityGyeYoung Kim - Soongsil UniversityHyungIl Choi - Soongsil University
- Contributors
- J A Jacko (Editor)
- Publication Details
- HUMAN-COMPUTER INTERACTION, PT 3, PROCEEDINGS, v 4552(3), pp 634-641
- Series
- Lecture Notes in Computer Science
- Publisher
- Springer Nature
- Number of pages
- 2
- Grant note
- KRF-2006-005-J03801 / Korea Research Foundation
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- School of Biomedical Engineering, Science, and Health Systems; Drexel University
- Web of Science ID
- WOS:000248079100069
- Scopus ID
- 2-s2.0-38149129492
- Other Identifier
- 991019415775004721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Computer Science, Interdisciplinary Applications
- Ergonomics