Vision-Based Localization Using Reliable Fiducial Markers

Title: Vision-Based Localization Using Reliable Fiducial Markers
Authors: Stathakis, Alexandros
Date: 2012
Abstract: 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.
CollectionThèses, 2011 - // Theses, 2011 -
Stathakis_Alexandros_2012_thesis.pdfThesis main document6.77 MBAdobe PDFOpen