A Study on Fisheye Lens based Features on the Ceiling for Self-Localization
실내 환경에서 자기위치 인식을 위한 어안렌즈 기반의 천장의 특징점 모델 연구

Chul-Hee Choi, Byung-Jae Choi
2011 Journal of Korean institute of intelligent systems  
There are many research results about a self-localization technique of mobile robot. In this paper we present a self-localization technique based on the features of ceiling vision using a fisheye lens. The features obtained by SIFT(Scale Invariant Feature Transform) can be used to be matched between the previous image and the current image and then its optimal function is derived. The fisheye lens causes some distortion on its images naturally. So it must be calibrated by some algorithm. We
more » ... e algorithm. We here propose some methods for calibration of distorted images and design of a geometric fitness model. The proposed method is applied to laboratory and aile environment. We show its feasibility at some indoor environment.
doi:10.5391/jkiis.2011.21.4.442 fatcat:437p24m6djekpfyz5norm3d43q