Landmark Tracking Using Unrectified Omniirectional Image for an Automated Guided Vehicle
In this paper, a study on landmark tracking using unrectified omnidirectional image for automated guided vehicle is presented. Omnidirectional image from a catadioptric camera may appear distorted against the height of an object. However, for a flat object on the floor, the distortion is negligible...
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| Other Authors: | |
| Format: | Book Chapter |
| Language: | English |
| Published: |
Springer
2015
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| Online Access: | http://umpir.ump.edu.my/id/eprint/9118/ http://umpir.ump.edu.my/id/eprint/9118/1/fkp-2015-zahari-Landmark%20Tracking%20Using%20Unrectified.pdf |
| _version_ | 1848818408370470912 |
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| author | Zahari, Taha Jessnor Arif, Mat Jizat |
| author2 | Kim, Jong-Hwan |
| author_facet | Kim, Jong-Hwan Zahari, Taha Jessnor Arif, Mat Jizat |
| author_sort | Zahari, Taha |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | In this paper, a study on landmark tracking using unrectified omnidirectional image for automated guided vehicle is presented. Omnidirectional image from a catadioptric camera may appear distorted against the height of an object. However, for a flat object on the floor, the distortion is negligible thus can be advantageous for on-the-ground landmark; Landmark used in this study was Code-128 standard barcode. The barcode is modified to suit the detection process where the barcode adopted cyan instead of white background and bears a red strip on top for orientation. The image processing can directly begin tracking landmarks when no distortion rectification in the image was required. We adopted a topological map approach where the automated guided vehicle moves from landmark to landmark. Experiments were conducted on a small four wheel drive, four wheel steering automated guided vehicle. The results were measured through number of successful consequent tracking of the landmark. |
| first_indexed | 2025-11-15T01:37:11Z |
| format | Book Chapter |
| id | ump-9118 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T01:37:11Z |
| publishDate | 2015 |
| publisher | Springer |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-91182018-01-22T05:51:49Z http://umpir.ump.edu.my/id/eprint/9118/ Landmark Tracking Using Unrectified Omniirectional Image for an Automated Guided Vehicle Zahari, Taha Jessnor Arif, Mat Jizat TS Manufactures In this paper, a study on landmark tracking using unrectified omnidirectional image for automated guided vehicle is presented. Omnidirectional image from a catadioptric camera may appear distorted against the height of an object. However, for a flat object on the floor, the distortion is negligible thus can be advantageous for on-the-ground landmark; Landmark used in this study was Code-128 standard barcode. The barcode is modified to suit the detection process where the barcode adopted cyan instead of white background and bears a red strip on top for orientation. The image processing can directly begin tracking landmarks when no distortion rectification in the image was required. We adopted a topological map approach where the automated guided vehicle moves from landmark to landmark. Experiments were conducted on a small four wheel drive, four wheel steering automated guided vehicle. The results were measured through number of successful consequent tracking of the landmark. Springer Kim, Jong-Hwan Yang , Weimin Jo, Jun Sincak, Peter Myung, Hyun 2015 Book Chapter PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/9118/1/fkp-2015-zahari-Landmark%20Tracking%20Using%20Unrectified.pdf Zahari, Taha and Jessnor Arif, Mat Jizat (2015) Landmark Tracking Using Unrectified Omniirectional Image for an Automated Guided Vehicle. In: Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, 345 . Springer, Switzerland, pp. 663-673. ISBN 978-3-319-16840-1 (print); 978-3-319-16841-8 (online) http://dx.doi.org/10.1007/978-3-319-16841-8_60 doi: 10.1007/978-3-319-16841-8_60 |
| spellingShingle | TS Manufactures Zahari, Taha Jessnor Arif, Mat Jizat Landmark Tracking Using Unrectified Omniirectional Image for an Automated Guided Vehicle |
| title | Landmark Tracking Using Unrectified Omniirectional Image for an Automated Guided Vehicle |
| title_full | Landmark Tracking Using Unrectified Omniirectional Image for an Automated Guided Vehicle |
| title_fullStr | Landmark Tracking Using Unrectified Omniirectional Image for an Automated Guided Vehicle |
| title_full_unstemmed | Landmark Tracking Using Unrectified Omniirectional Image for an Automated Guided Vehicle |
| title_short | Landmark Tracking Using Unrectified Omniirectional Image for an Automated Guided Vehicle |
| title_sort | landmark tracking using unrectified omniirectional image for an automated guided vehicle |
| topic | TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/9118/ http://umpir.ump.edu.my/id/eprint/9118/ http://umpir.ump.edu.my/id/eprint/9118/ http://umpir.ump.edu.my/id/eprint/9118/1/fkp-2015-zahari-Landmark%20Tracking%20Using%20Unrectified.pdf |