Landmark Tracking Using Unrectified Omniirectional Image for an Automated Guided Vehicle
In this paper, a study on landmark tracking using unrectified omnidirectional image for automated guided vehicle is presented. Omnidirectional image from a catadioptric camera may appear distorted against the height of an object. However, for a flat object on the floor, the distortion is negligible...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Book Section |
| Language: | English |
| Published: |
Springer
2015
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/9118/ http://umpir.ump.edu.my/id/eprint/9118/ http://umpir.ump.edu.my/id/eprint/9118/ http://umpir.ump.edu.my/id/eprint/9118/1/fkp-2015-zahari-Landmark%20Tracking%20Using%20Unrectified.pdf |
| Summary: | In this paper, a study on landmark tracking using unrectified omnidirectional image for automated guided vehicle is presented. Omnidirectional image from a catadioptric camera may appear distorted against the height of an object. However, for a flat object on the floor, the distortion is negligible thus can be advantageous for on-the-ground landmark; Landmark used in this study was Code-128 standard barcode. The barcode is modified to suit the detection process where the barcode adopted cyan instead of white background and bears a red strip on top for orientation. The image processing can directly begin tracking landmarks when no distortion rectification in the image was required. We adopted a topological map approach where the automated guided vehicle moves from landmark to landmark. Experiments were conducted on a small four wheel drive, four wheel steering automated guided vehicle. The results were measured through number of successful consequent tracking of the landmark. |
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