Vision-based localization using active scope camera - Accuracy evaluation for structure from motion in disaster environment

Michihisa Ishikura, Eijiro Takeuchi, Masashi Konyo, Satoshi Tadokoro

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

4 Citations (Scopus)

Abstract

This paper presents the evaluation results for conventional methods that can be used for vision-based localization. An Active Scope Camera is a very thin snake robot and can be used as a rescue robot for search and rescue missions. Self-position estimation of the Active Scope Camera is important for efficient search. Nevertheless, using sensors for this purpose hinders the movement and maneuvering of the camera through narrow gaps, because sensors are very big and heavy for the Active Scope Camera. Vision-based localization using a fish-eye camera is suitable technique for self-position estimation. However, the images obtained using the Active Scope Camera are not of good quality. The material of objects found in disaster environments and overexposure by light-emitting diodes embedded at the camera tip affects the matching of feature points. In this paper, properties of images of disaster sites obtained using the Active Scope Camera and the accuracy evaluation of vision-based localization are described.

Original languageEnglish
Title of host publication2010 IEEE/SICE International Symposium on System Integration
Subtitle of host publicationSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages25-30
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
Duration: 2010 Dec 212010 Dec 22

Publication series

Name2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other3rd International Symposium on System Integration, SII 2010
CountryJapan
CitySendai
Period10/12/2110/12/22

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Ishikura, M., Takeuchi, E., Konyo, M., & Tadokoro, S. (2010). Vision-based localization using active scope camera - Accuracy evaluation for structure from motion in disaster environment. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings (pp. 25-30). [5708296] (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). https://doi.org/10.1109/SII.2010.5708296