Blind user indoor environment mapping system for self-localization
Document Type
Conference Item
Publication Date
1-1-2011
Abstract
This paper described blind user indoor environment mapping system for self-localization via webcam camera. The method used is based on robot navigation systems which capture and build panorama map of the floor. The map is then incrementally update its position as it moves throughout an environment. Image registration techniques are applied to measure translation distance and rotation angle between consecutive frames. We used Phase only correlation (POC) method to matched image differs only by a translation. For rotated image, RI-POC and Radon Transform is used to recovered rotation. The accuracy of these two methods for rotated image is compared for best result.
Keywords
computer vision, Image registration, Mapping, Blind users, Image registration techniques, Indoor environment, Phase-only correlation, Radon Transform, Robot navigation system, Rotated images, Rotation angles, Self-localization, Communication, Navigation systems, Rotation.
Divisions
fac_eng
Event Title
2011 IEEE 3rd International Conference on Communication Software and Networks, ICCSN 2011
Event Location
Xi'an
Event Dates
2011
Event Type
conference
Additional Information
Conference code: 86671 Export Date: 28 January 2013 Source: Scopus Art. No.: 6014943 doi: 10.1109/ICCSN.2011.6014943 Language of Original Document: English Correspondence Address: Samsudin, S.S.; Department of Electrical, University of Malaya, 50603 Kuala Lumpur, Malaysia; email: ctsalbiah@hotmail.com References: Mokhtar, N., Arof, H., Iwahashi, M., One dimensional image processing for eye tracking using derivative dynamic time warping (2010) Scientific Research and Essays, 5 (19), pp. 2947-2952. , 4 october; Zitova, B., Flusser, I., Image registration method: A survey (2003) Image and Vision Computing, 21, pp. 977-1000; Wolberg, G., Zokai, S., Robust image registration using log-polar transform (2000) IEEE Conf. on Image Processing, , Sep; Fukutani, Y., Takahashi, T., Iwahashi, M., Kimura, T., Salbiah, S.S., Mokhtar, N., Robot vision network based on ceiling map sharing (2010) The 11th IEEE International Workshop on Advanced Motion Control, , March 21-24; Pissaloux, E., A characterization of vision systems for blind people mobility 2002 IEEE SMC; Matsumoto, T., Takahashi, T., Iwahashi, M., Kimura, T., Salbiah, S., Mokhtar, N., Visual compensation in localization of a robot on a ceiling map (2010) Scientific Reseach and Essays, 5 (23). , 4 December; Matsumoto, T., Takahashi, T., Iwahashi, M., Kimura, T., Salbiah, S., Mokhtar, N., Reduction of data size for transmission in localization of mobile robots (2010) International Journal of the Physical Sciences, 5 (15). , 4 December; Wang, J.-Z., Reinstein, L.E., Hanley, J., Meek, A.G., Investigation of a phase only correlation technique for anatomical alignment of portal image in radiation therapy (1996) Phys. Med. Biol., 41, pp. 1045-1058; Ito, K., Nakajima, H., Kobayashi, K., Aoki, T., Higuchi, T., A fingerprint matching algorithm using phase-only correlation (2004) IEICE Trans. Fundamentals, E87-A (3). , March; Tzimiropoulos, G., Stathaki, T., Robust FFT-based scale-invariant image registration 4 th SEAS DTC Technical Conferences; Xiao, S.S., Wu, Y.X., Rotation-invariant texture analysis using radon and fourier transform (2006) Journal of Physics: Conference Series, 48, pp. 1459-119; Gitlord, C.M., (2009) Low-Cost Mobile Robot Localization Using only A Download-Facing Webcam, , Technical Report October 13