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METHOD FOR SELF LOCALIZATION USING PARALLEL PROJECTION MODEL

  • US 20100245564A1
  • Filed: 10/25/2007
  • Published: 09/30/2010
  • Est. Priority Date: 09/12/2007
  • Status: Active Grant
First Claim
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1. A method of recognizing a self location of an image acquisition device by acquiring an image of two or more reference objects, the method comprising:

  • setting an actual camera plane, two or more reference object planes, and two or more virtual viewable planes located between the actual camera plane and the reference object planes;

    projecting the reference objects to a corresponding one of the virtual viewable planes;

    calculating a distance between a viewing axis and the reference objects and a distance between the viewing axis and images on the actual camera plane, the images corresponding to the reference objects; and

    sensing the self location of the image acquisition device by using an orientation and a zoom factor of the image acquisition device and coordinates of the reference objects,wherein the zoom factor is a ratio of a length of the reference object plane and a distance between the reference object plane and the virtual viewable plane, andthe actual camera plane, the virtual viewable plane, and the reference object plane are perpendicular to the viewing axis.

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