Journal of Advanced Marine Engineering and Technology

  • 제36권4호
  • /
  • Pages.512-519
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  • 2012
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  • 2234-7925(pISSN)
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  • 2234-8352(eISSN)
한국마린엔지니어링학회 (The Korean Society of Marine Engineering)
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원형 링 패턴 인식에 기반한 실내용 자세추정 시스템

An Indoor Pose Estimation System Based on Recognition of Circular Ring Patterns

  • 김헌희 (광운대학교 예술로봇 연구소) ;
  • 하윤수 (한국해양대학교 IT공학부)
  • 투고 : 2012.05.23
  • 심사 : 2012.05.31
  • 발행 : 2012.05.31
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초록

본 논문은 원형 링 패턴의 인식에 기반한 물체의 3차원 위치/자세 추정 시스템을 제안한다. 단일 비전 기반의 자세추정 문제를 다루기 위하여, 본 논문은 물체인식 과정의 단순화를 위한 원형 링 패턴의 설계방법을 기술한다. 또한, 본 논문은 2차원 투영공간에서 원형 링 패턴이 가지는 기하학적 변환관계를 적극 활용한 실내용 위치/자세 추정 절차를 상세히 설명한다. 제안된 방법은 쿼드로터형 비행체의 3차원 위치/자세 추정에 적용되며 정확도 및 정밀도 분석을 통해 평가된다.

This paper proposes a 3-D pose (positions and orientations) estimation system based on the recognition of circular ring patterns. To deal with monocular vision-based pose estimation problem, we specially design a circular ring pattern that has a simplicity merit in view of object recognition. A pose estimation procedure is described in detail, which utilizes the geometric transformation of a circular ring pattern in 2-D perspective projection space. The proposed method is evaluated through the analysis of accuracy and precision with respect to 3-D pose estimation of a quadrotor-type vehicle in 3-D space.

키워드

참고문헌

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