Image-based automatic object localisation in iSpace environment

Péter Zanaty, P. Korondi, Gábor Sziebig, László A. Jeni

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Localization is a fundamental task in mobile robotics and in indoor environments we can use various sensors to solve this problem. In the Intelligent Space environment we can use laser range finders or ultrasonic positioning systems to localize and track mobile robots. Nevertheless, our final goal is to substitute these sensors and accomplish this task using just cameras. In this paper, we show the feasibility of determining the robot's location based on the images received from a single camera. In our experimental room we used a surveillance camera, which can be controlled to pan/tilt in order to change the point of view. The camera had been mounted on the ceiling and six preset positions were selected to cover the whole area. The object recognition is based on colour space filtering and contour detection. Finally, the contours of the detected objects are transformed from the image space to the world coordinate system and the polygons are reduced to simpler ones. The system is able to detect not only the position of the objects, but their orientations.

Original languageEnglish
Title of host publication10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009
Pages501-512
Number of pages12
Publication statusPublished - 2009
Event10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009 - Budapest, Hungary
Duration: Nov 12 2009Nov 14 2009

Other

Other10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009
CountryHungary
CityBudapest
Period11/12/0911/14/09

Fingerprint

Cameras
Range finders
Sensors
Ceilings
Object recognition
Mobile robots
Robotics
Ultrasonics
Robots
Color
Lasers

Keywords

  • Calibration
  • Image processing
  • ISpace
  • Localisation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

Cite this

Zanaty, P., Korondi, P., Sziebig, G., & Jeni, L. A. (2009). Image-based automatic object localisation in iSpace environment. In 10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009 (pp. 501-512)

Image-based automatic object localisation in iSpace environment. / Zanaty, Péter; Korondi, P.; Sziebig, Gábor; Jeni, László A.

10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009. 2009. p. 501-512.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Zanaty, P, Korondi, P, Sziebig, G & Jeni, LA 2009, Image-based automatic object localisation in iSpace environment. in 10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009. pp. 501-512, 10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009, Budapest, Hungary, 11/12/09.
Zanaty P, Korondi P, Sziebig G, Jeni LA. Image-based automatic object localisation in iSpace environment. In 10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009. 2009. p. 501-512
Zanaty, Péter ; Korondi, P. ; Sziebig, Gábor ; Jeni, László A. / Image-based automatic object localisation in iSpace environment. 10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009. 2009. pp. 501-512
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