Self-location estimation of a moving camera using edge information of known environment

Applications as visual navigation of mobile robot with image sensor and mixed/augmented reality have been investigated actively. Many of these techniques require the localization of human or robot. In this paper, we propose a novel method for estimating the position of a camera by using edge in time-series of images. The technique can be applied to indoor environment. In our approach, the camera position in next frame is predicted from the estimated trajectory of the moving camera in known environment. Both the correction based on the prediction and current measurement, and matching frameworks with the edge of background images, result to efficient estimation of 3-dimensional camera position.