Self-localization based on image features of omni-directional image

Author

Hibino, F. ; Ii, Yuta ; Takahashi, Y. ; Maeda, Yuji

Author_Institution

Dept. of Human & Artificial Intell. Syst., Univ. of Fukui, Fukui, Japan

fYear

2012

fDate

20-24 Nov. 2012

Firstpage

2040

Lastpage

2043

Abstract

Omni-vision system using an omni-mirror is popular to acquire environment information around an autonomous mobile robot. In RoboCup soccer middle size robot league in particular, self-localization methods based on white line extraction on the soccer field are popular. We have studied a self-localization method based on image features, for example, SIFT and SURF, so far. Comparative studies with a conventional self-localization method based on white line extraction are conducted. Compared to the self-localization method based on white line extraction, the method based on image feature can be applied to a general environment with a compact database.

Keywords

mobile robots; multi-robot systems; robot vision; sport; transforms; RoboCup soccer middle size robot league; SIFT; SURF; autonomous mobile robot; image feature; omni-mirror; omni-vision system; omnidirectional image; self-localization method; white line extraction;

fLanguage

English

Publisher

ieee

Conference_Titel

Soft Computing and Intelligent Systems (SCIS) and 13th International Symposium on Advanced Intelligent Systems (ISIS), 2012 Joint 6th International Conference on

Conference_Location

Kobe

Print_ISBN

978-1-4673-2742-8

Type

conf

DOI

10.1109/SCIS-ISIS.2012.6505325

Filename

6505325