Self Localization Method Using Parallel Projection Model for Mobile Sensor in Navigation Applications  

作　　者：Shung Han Cho Yuntai Kyong Sangjin Hong We-Duke Cho 

机构地区：[1]Department of Electrical and Computer Engineering, Stony Brook University- SUNY, Stony Brook, NY, U.S.A. [2]Department of Electronics Engineering, College of Information Technology, Ajou University, Suwon, Korea

出　　处：《Journal of Computer Science & Technology》2009年第3期588-603,共16页计算机科学技术学报（英文版）

基　　金：supported by the Ubiquitous Computing and Network (UCN) Project;Knowledge 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

摘　　要：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.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.

关 键 词：mobile sensors LOCALIZATION parallel projection model visual processing 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置] TN929.5[自动化与计算机技术—控制科学与工程]