A point-based localization with error analysis

Kuo Hua Lo*, Jen-Hui Chuang, Yueh Hsun Hsieh, Hon Yue Chou

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, we examine implementing a vision-based localization system that can locate objects in the scene from their images by homography and 3D geometry and how to reduce errors arising from radial distortion of cameras, noise during imaging processing and errors associated with manual measurement. By analyzing these errors and trying different scenarios, including simple camera calibration and fine-tuning measurement data, it was possible for us to implement a system that used an appropriate pair of cameras in a multi-camera environment to achieve more accurate localization. Both synthetic and real scene data were used to verify the implemented localization system's results. Experimental results showed that the proposed approach could indeed reduce localization error and improve system stability.

Original languageEnglish
Title of host publicationICS 2010 - International Computer Symposium
Pages312-318
Number of pages7
DOIs
StatePublished - 1 Dec 2010
Event2010 International Computer Symposium, ICS 2010 - Tainan, Taiwan
Duration: 16 Dec 201018 Dec 2010

Publication series

NameICS 2010 - International Computer Symposium

Conference

Conference2010 International Computer Symposium, ICS 2010
CountryTaiwan
CityTainan
Period16/12/1018/12/10

Keywords

  • Data fusion
  • Multiple cameras
  • Vision based localization

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