Real-Time Multiple Points Tracking and Localization Using Wide Angle Cameras for Indoor Flying Robot

Abstract:

Using other visual information of object to compute its location is attracting lots of researchers and engineers in recent years. In this pager, a new real-time multiple points tracking and localization system is introduced while keeping the robustness in a certain degree. The ma¬j¬or contributions of our paper are: several infrared LEDs are used to avoid the interference of visible light, some wide-angle lens of the cameras are incorp¬orated to expand th¬e v¬isual field of cameras, and a real-time multiple points t¬r¬acking method is used to accelerate the points association among several ima¬g¬es captured from different cameras. In experiments, we mounted the points o¬n the flying robot to demonstrate that the real-time tracking is robust and the localization accuracy meets the application requirements.

• Periodical: Applied Mechanics and Materials (Volumes 246-247)
• Pages: 268-272
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.246-247.268
• Online since: December 2012
• Authors: Guo Tian Yang, Shuo Wang, Tao Liu, Changan Liu, Hua Wu
• Keywords: 3D Reconstruction, Distortion Rectification, Flying Robot, Localization, Multiple Inferred LED Points, Tracking

References

[1] Azuma R, Hoff B, Neeley III H, and Sarfaty R: A motionstabilized outdoor augmented reality system. Proceedings of IEEE Virtual Reality '99, Houston(1999), pp.252-259.

DOI: 10.1109/vr.1999.756959

[2] Richard I. Hartley: Triangulation. Computer Vision and Image Understanding Vol. 68 (1997) , pp.146-157.

[3] Huairen Zeng and R. Todd Constable: Image distortion correction in EPI: Comparison of field mapping with point spread function mapping. Magnetic Resonance in Medicine Vol. 48(2002), pp.137-146.

DOI: 10.1002/mrm.10200

[4] Alacam. B, Yazici. B, Intes. X and Chance. B: Extended Kalman Filtering for the Modeling and Analysis of ICG Pharmacokinetics in Cancerous Tumors Using NIR Optical Methods. Biomedical Engineering Vol. 53(2006), pp.1861-1871.

DOI: 10.1109/tbme.2006.881796

[5] R. I. Hartley and A. Zisserman: Multiple View Geometry in Computer Vision(Cambridge University Publications, 2000).

[6] Tomas Svoboda, Daniel Martinec, and Tomas Pajdla: A convenient multi-camera self-calibration for virtual environments. Teleoperators and Virtual Environments Vol. 14(2002), pp.407-422.

DOI: 10.1162/105474605774785325

[7] Pau Gargallo, Emmanuel Prados and Peter Sturm: Minimizing the Reprojection Error in Surface Reconstruction from Images. Computer Vision(2007).

DOI: 10.1109/iccv.2007.4409003

[8] Jaeyong Chung and Namgyu Kim: POSTRACK: A Low Cost Real-Time Motion Tracking System for VR Application. Proceedings of the Seventh International Conference on Virtual Systems and Multimedia(2001).

DOI: 10.1109/vsmm.2001.969693

[9] Li Liu, Bo Sun, Ning Wei and Chao Hu: A Novel Marker Tracking Method Based on Extended Kalman Filter for Multi-camera Optical Tracking Systems. Bioinformatics and Biomedical Engineering(2011).

DOI: 10.1109/icbbe.2011.5780295