A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Absolute Localization Method Using a Synthetic Panoramic Image Base
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
A high-speed algorithm for elliptical object detection
IEEE Transactions on Image Processing
A Novel Method for Lateral Vehicle Localization by Omni-Cameras for Car Driving Assistance
KES '09 Proceedings of the 13th International Conference on Knowledge-Based and Intelligent Information and Engineering Systems: Part II
Real-Time 3D Stereo Tracking and Localizing of Spherical Objects with the iCub Robotic Platform
Journal of Intelligent and Robotic Systems
Robotics and Autonomous Systems
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A novel approach to location estimation by omni-directional vision for autonomous vehicle navigation in indoor environments using circular landmark information is proposed. A circular-shaped landmark is attached on a ceiling and an omni-directional camera is equipped on a vehicle to take upward-looking omni-directional images of the landmark. This way of image taking reduces possible landmark shape occlusion and image noise creation, which come from the existence of nearby objects or humans surrounding the vehicle. It is shown that the perspective shape of the circular landmark in the omni-directional image may be approximated by an ellipse by analytic formulas with good shape-fitting effect and fast computation speed. The parameters of the ellipse are then used for estimating the location of the vehicle with good precision for navigation guidance. Both simulated and real images were tested and good experimental results confirm the feasibility of the proposed approach.