Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on Scale-Invariant Features Extraction and Distance Measurement for Localization of Mobile Robot

이동로봇의 위치 추정을 위한 스케일 불변 특징점 추출 및 거리 측정에 관한 연구

  • 정대섭 (한국산업기술대학교 Robot학과) ;
  • 장문석 (한국과학기술대학교 지능형HealthCare연구소) ;
  • 유제군 (한국과학기술대학교 지능형HealthCare연구소) ;
  • 이응혁 (한국과학기술대학교 전자공학과) ;
  • 심재홍 (한국과학기술대학교 Mechatronics)
  • Published : 2005.10.28
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Abstract

Existent distance measurement that use camera is method that use both Stereo Camera and Monocular Camera, There is shortcoming that method that use Stereo Camera is sensitive in effect of a lot of expenses and environment variables, and method that use Monocular Camera are big computational complexity and error. In this study, reduce expense and error using Monocular Camera and I suggest algorithm that measure distance, Extract features using scale Invariant features Transform(SIFT) for distance measurement, and this measures distance through features matching and geometrical analysis, Proposed method proves measuring distance with wall by geometrical analysis free wall through feature point abstraction and matching.

Keywords