A panorama-based method of personal positioning and orientation and its real-time applications for wearable computers
A panorama-based method of personal positioning and orientation and its real-time applications for wearable computers
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基于全景的个人定位定向方法及其在可穿戴计算机中的实时应用
DOI：
10.1109/iswc.2001.962109
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
K. Sakaue
中科院分区：
文献类型：
--
作者：
M. Kourogi;T. Kurata;K. Sakaue
在本文中，我们描述了一种改进的方法，个人定位和定向使用输入视频帧和预先捕获的全景图像之间的图像配准。在我们以前的工作中，我们提出了一种仿射变换的图像配准方法。然而，仿射变换通常不能在帧和全景之间进行图像配准。我们改进了以前的方法，使它可以估计投影变换参数，而不会严重增加计算成本。我们还改进了该方法是鲁棒的光照变化，通过使用图像之间的亮度和梯度的绝对差的加权和。我们证实，这种改进的方法可以估计图像配准参数的条件下，阻碍了以前的方法。其计算成本仅增加10-20%，其软件实现能够进行实时处理。
In this paper, we describe an improved method of personal positioning and orientation using image registration between input video frames and panoramic images captured beforehand. In our previous work, we proposed the method of image registration with an affine transform. However, the affine transform is generally not capable of image registration between a frame and a panorama. We improved the previous method so that it can estimate projective transform parameters without severely increasing computational cost. We also improved the method to be robust with respect to lighting changes by using the weighted sum of absolute difference of both brightness and its gradient between images. We confirmed that this improved method could estimate image registration parameters under conditions that hindered the previous method. Its computational cost increased by only 10-20% and its software implementation was capable of real-time processing.