Vision-Based Localization Using Reliable Fiducial Markers

dc.contributor.authorStathakis, Alexandros
dc.description.abstractVision-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.
dc.publisherUniversité d'Ottawa / University of Ottawa
dc.subjectFiducial Marker
dc.subjectIndoor Localization
dc.subjectMachine Vision
dc.subjectPseudo-Random Array
dc.titleVision-Based Localization Using Reliable Fiducial Markers
dc.faculty.departmentGénie électrique / Electrical Engineering
dc.contributor.supervisorPetriu, Emil M.
dc.embargo.termsimmediateénie / Engineeringénie / Engineering
uottawa.departmentGénie électrique / Electrical Engineering
CollectionThèses, 2011 - // Theses, 2011 -

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