2023 Fiscal Year Final Research Report
360-Degree Camera based Fast Indoor Localization using Image Gradients
| Project/Area Number |
20K22383
|
|---|
| Research Category |
Grant-in-Aid for Research Activity Start-up
|
| Allocation Type | Multi-year Fund |
|---|
| Review Section |
0301:Mechanics of materials, production engineering, design engineering, fluid engineering, thermal engineering, mechanical dynamics, robotics, aerospace engineering, marine and maritime engineering, and related fields
|
|---|
| Research Institution | Chuo University (2021-2023)
The University of Tokyo (2020) |
|---|
Principal Investigator |
|
|---|
| Project Period (FY) |
2020-09-11 – 2024-03-31
|
| Keywords | 360-degree images / localization / image processing |
|---|
| Outline of Final Research Achievements |
In this research, a novel method to use the 3D line information to perform 6 degree-of-freedom localization in indoor environments was proposed. This method was based on using 360-degree image gradient information to calculate 2D image lines and match them to 3D lines in the environmental model.
|
| Free Research Field |
Image processing
|
| Academic Significance and Societal Importance of the Research Achievements |
This research made it possible to estimate 360-degree camera position and orientation at high speed using only image gradients. It showed that it was possible to use image gradients for detection in textureless environments without depending on explicit detection of lines or other features.
|
