This paper presents a novel self localization method using parallel projection model for mobile sensor in navigation applications. The algorithm estimates the coordinate and the orientation of mobile sensor using proj...This paper presents a novel self localization method using parallel projection model for mobile sensor in navigation applications. The algorithm estimates the coordinate and the orientation of mobile sensor using projected references on visual image. The proposed method considers the lens non-linearity of the camera and compensates the distortion by using a calibration table. The method determines the coordinates and orientations with iterative process, which is very accurate with low computational demand. We identify various sources of error on the coordinate and orientation estimations, and present both static sensitivity analysis of the algorithm and dynamic behavior of the mobile sensor. The algorithm can be utilized in mobile robot navigation as well as positioning application where accurate self localization is necessary.展开更多
基金supported by the Ubiquitous Computing and Network (UCN) ProjectKnowledge and Economy Frontier R&D Program of the Ministry of Knowledge Economy(MKE)in Korea as a result of UCN's subproject 09C1-T3-10M
文摘This paper presents a novel self localization method using parallel projection model for mobile sensor in navigation applications. The algorithm estimates the coordinate and the orientation of mobile sensor using projected references on visual image. The proposed method considers the lens non-linearity of the camera and compensates the distortion by using a calibration table. The method determines the coordinates and orientations with iterative process, which is very accurate with low computational demand. We identify various sources of error on the coordinate and orientation estimations, and present both static sensitivity analysis of the algorithm and dynamic behavior of the mobile sensor. The algorithm can be utilized in mobile robot navigation as well as positioning application where accurate self localization is necessary.
