Distortion and scale estimation for robust tag registration

Io Nakayama; Hidenori Takauji; Shun'ichi Kaneko; Takayuki Tanaka

doi:10.1117/12.754544

8 October 2007 Distortion and scale estimation for robust tag registration

Io Nakayama, Hidenori Takauji, Shun'ichi Kaneko, Takayuki Tanaka

Proceedings Volume 6718, Optomechatronic Computer-Vision Systems II; 671804 (2007) https://doi.org/10.1117/12.754544
Event: International Symposium on Optomechatronic Technologies, 2007, Lausanne, Switzerland

Abstract

This paper proposes a new method to estimate distortion for template matching. Matching object images from scenes to pre-obtained reference images is necassary for robot mobility, but matching error due to distortion of images ramains a problem. There are two measures of distortion: "scale" which represents the distortion of distance from an object to the robot determined using a camera, and "directional distortion" which represents the distortion of direction that is due to the relative postures and positions of objects to the mobile robot. The latter is considered to involve rotation around the vertical axis, the y-axis, of the image plane. The paper proposes the Orthogaonal Projection Distortion method (OPD) to estimate directional distortion and uses it with the image correction method to improve similarity. We demonstrate the effectiveness of the approach experimentally using actual images.

Citation Download Citation

Io Nakayama, Hidenori Takauji, Shun'ichi Kaneko, and Takayuki Tanaka "Distortion and scale estimation for robust tag registration", Proc. SPIE 6718, Optomechatronic Computer-Vision Systems II, 671804 (8 October 2007); https://doi.org/10.1117/12.754544

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