Method for Object Localization Using Visual Images with Reference Coordinates

• US 20100328455A1
• Filed: 04/03/2008
• Published: 12/30/2010
• Est. Priority Date: 02/27/2008
• Status: Active Grant

• Current Assignee: Ajou University Industry Cooperation Foundation
• Original Assignee: Ajou University Industry Cooperation Foundation
• Inventors: Hong, Sang Jin, Nam, Yun Young, Park, Kyoung Su, Lee, Jin Seok, Cho, We Duke
• Granted Patent: US 8,432,443 B2
• Time in Patent Office: Days
• US Class Current: 348/135
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/285 using a sequence of stereo image pairs
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

There is provided a method of localizing an object comprising projecting an object located on an object plane and a reference point corresponding thereto on a virtual viewable plane and an actual camera plane; estimating coordinates of the reference point; and prescribing a relationship between a location of the object and the coordinates of the reference point.

Claims

1. A method of localizing an object, the method comprising:

projecting an object located on an object plane and a reference point corresponding thereto on a virtual viewable plane and an actual camera plane;

estimating coordinates of the reference point; and

prescribing a relationship between a location of the object and the coordinates of the reference point.

2. The method of claim 1, wherein the virtual viewable plane is parallel to the object plane.

3. The method of claim 1, wherein the respective planes support zooming and panning of imaging devices.

4. The method of claim 1, wherein the object is projected by one sensor.

5. The method of claim 1, wherein the object is projected by a plurality of sensors.

6. The method of claim 5, further comprising mutually compensating a difference in localization between the object projected by the plurality of sensors and the reference point.

7. The method of claim 5, wherein the plurality of sensors are selected based on a pan factor of each of the plurality of sensors.

8. The method of claim 7, wherein sensors whose difference between absolute values of the pan factors is “

0”

are selected as the plurality of sensors.

9. The method of claim 1, wherein, in the prescribing a relationship between a location of the object and the coordinates of the reference point, when the location of the object is identical to a location of the reference point, the location of the reference point is determined as the location of the object.

10. The method of claim 1, which is performed one time.

11. The method of claim 1, which is performed iteratively.