Circular Road Sign Analysis and Visual Localization Approach Based on Monocular Vision

被引：1

作者：

Yang, Fang ^{[1
]}

Wang, Hong ^{[1
]}

Wei, Huanbing ^{[2
]}

Yang, Yuzhi ^{[2
]}

Wang, Yonggang ^{[2
]}

机构：

[1] Tsinghua Univ, Tsinghua Natl Lab Informat Sci & Technol, Dept Comp Sci & Technol, State Key Lab Intelligent Technol & Syst, Beijing 100084, Peoples R China

[2] Hongfeng Co, Xiaogan, Hunan, Peoples R China

来源：

2012 THIRD GLOBAL CONGRESS ON INTELLIGENT SYSTEMS (GCIS 2012) | 2012年

关键词：

sign detection; visual localization; robot pose;

D O I：

10.1109/GCIS.2012.18

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper proposes a circular road sign detection and analysis method based on monocular vision, which can be used for visual localization of mobile robots. To achieve a stable and reliable real-time detection, a simple but useful circular road sign has been designed. By color-based image segmentation, edge detection, contour selection, ellipse fitting and sign verification, road sign can be detected from monocular vision. Furthermore, perspective geometry is carried out to calculate the robots position based on sign detection result and sign position. The proposed method is experimented on a robot platform. The experimental results show that the method achieves a promising performance and meets the requirement of real-time and practical situations.

引用

页码：334 / 337

页数：4

共 9 条

[1] RANDOM SAMPLE CONSENSUS - A PARADIGM FOR MODEL-FITTING WITH APPLICATIONS TO IMAGE-ANALYSIS AND AUTOMATED CARTOGRAPHY [J].