Camera Orientation Estimation in Leaking Indoor Environment via Vanishing Point of Water Drops
Camera Orientation Estimation in Leaking Indoor Environment via Vanishing Point of Water Drops
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DOI：
10.1109/ssrr50563.2020.9292615
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发表时间：
2020-11
期刊：
影响因子：
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通讯作者：
Hao Xu;Ren Komatsu;Hanwool Woo;Angela Faragasso;A. Yamashita;H. Asama
中科院分区：
文献类型：
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作者：
Hao Xu;Ren Komatsu;Hanwool Woo;Angela Faragasso;A. Yamashita;H. Asama
本文提出了一种新的基于室内漏水环境水滴消失点计算的摄像机方位估计方法。摄像机方位估计是机器人的一个重要组成部分，因为它允许机器人执行复杂的任务，如对不同环境的三维(3D)重建。相机估计通常涉及传感器，如相机或编码器和复杂的处理算法。近年来，由于视觉传感可以提高系统的自主性，计算机视觉技术被广泛应用于机器人相关研究中对摄像机方位的估计。虽然这些方法大多在室外环境中表现良好，但在室内灾难环境中却存在问题，在室内灾难环境中，常见的视觉特征可能会因坍塌和侵蚀而丢失。为了解决这些问题，我们开发了一种利用室内环境泄漏的特殊特征的新技术。我们的方法使用由水滴轨迹产生的消失点来估计相机的旋转。该技术有可能应用于核电厂的检测。计算机模拟实验和真实数据实验验证了该方法的准确性。实验结果表明，该方法能够准确地检测出水滴的消失点并估计出水滴的旋转角。
In this paper, we propose a novel camera orientation estimation method based on the computation of the vanishing point of water drops in leaking indoor environment. Camera orientation estimation is an important component of robots as it allows them to perform complex tasks such as three-dimensional (3D) reconstruction of different environments. Camera estimation usually involves sensors, such as cameras or encoders and sophisticated processing algorithms. In recent years, computer vision techniques have been widely used to estimate the camera orientation in robotics-related research as visual sensing can improve the autonomy of the systems. Although most of these methods perform well in outdoor environments, they are problematic in the environments of indoor disasters, where common visual features may be missing due to collapse and erosion. To solve these problems, we developed a novel technique that employs particular characteristics of leaking indoor environment. Our method uses the vanishing point generated form the trajectories of water drops, to estimate the rotation of the camera. The proposed technique can potentially be applied for inspecting nuclear power plants. Computer-simulated and real data experiments have been performed to evaluate the accuracy of the proposed method. The results of these experiments demonstrate that our method can detect the vanishing point of water drops and estimate the rotation angle accurately.