2022 Fiscal Year Research-status Report
360-Degree Camera based Fast Indoor Localization using Image Gradients
| Project/Area Number |
20K22383
|
|---|
| Research Institution | Chuo University |
|---|
Principal Investigator |
|
|---|
| Project Period (FY) |
2020-09-11 – 2024-03-31
|
| Keywords | Localization / Spherical Camera / 360 degree Camera |
|---|
| Outline of Annual Research Achievements |
Previously, two different algorithms were implemented and tested in virtual and real environments. One was based on using line information and the other one was based on using door information from floor maps.
This year, the main tasks were to summarize the research achievements and brainstorm ideas to improve the accuracy. The method using door information is independent of camera orientation and only uses height information of doors captured in an image by ordering and normalization. The concept was proved to work properly. Efficient search methods were also developed.
To further improve the accuracy and enable rotation estimation, vanishing points were also detected in images. It is planned to extend the method to enable 3D measurement by adding a ring laser to the experimental setup.
|
| Current Status of Research Progress |
Current Status of Research Progress
1: Research has progressed more than it was originally planned.
Reason
The original proposal was about using line information via image gradients for image based localization. The method was successfully extended to include door information from floor maps. Another method to use a ring laser in the experimental setup to enable all-round 3D measurement was also developed.
|
| Strategy for Future Research Activity |
This year, the method based on door information will be expanded to improve the search method, aiming for robustness and accuracy. The method for 3D measurement using a ring laser will be completed and evaluated.
|
| Causes of Carryover |
Next year, the extended research plan will be implemented and evaluated. Funds are necessary for experiments. Also, funds are necessary for conference presentations which were halted due to the effect of COVID-19.
|
