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Vision-Based Localization Using Reliable Fiducial Markers

Vision-based positioning systems are founded primarily on a simple image processing technique of identifying various visually significant key-points in an image and relating them to a known coordinate system in a scene. Fiducial markers are used as a means of providing the scene with a number of specific key-points, or features, such that computer vision algorithms can quickly identify them within a captured image. This thesis proposes a reliable vision-based positioning system which utilizes a unique pseudo-random fiducial marker. The marker itself offers 49 distinct feature points to be used in position estimation. Detection of the designed marker occurs after an integrated process of adaptive thresholding, k-means clustering, color classification, and data verification. The ultimate goal behind such a system would be for indoor localization implementation in low cost autonomous mobile platforms.

Identiferoai:union.ndltd.org:uottawa.ca/oai:ruor.uottawa.ca:10393/20507
Date January 2012
CreatorsStathakis, Alexandros
ContributorsPetriu, Emil M.
PublisherUniversité d'Ottawa / University of Ottawa
Source SetsUniversité d’Ottawa
LanguageEnglish
Detected LanguageEnglish
TypeThesis

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