Model-based light stripe detection for indoor navigation

Ho Gi Jung, Jaihie Kim

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

Light stripe projection (LSP) is one of the most robust 3D recognition methods, and the general method of light stripe feature (LSF) detection is Laplacian of Gaussian (LOG) filtering. If distances to objects are various, as in the case of indoor navigation, LSF width becomes various according to distance. As the window size of spatial filtering influences the performance significantly, various LSF widths disturb LOG-based LSF detection with constant base length, that is constant window size. The irradiance maps of LSFs were reconstructed by high dynamic range imaging (HDRi) while changing the distance. By analyzing the irradiance maps, LSF irradiance map was modeled as a 2D Gaussian function whose parameters were approximated as functions of distance. After deriving LSF width function of distance, it was transformed into LSF width function of pixel coordinates by one-to-one relation between distance and y coordinates in LSP. The LSF width function can provide proper base length to LOG filtering. A self-calibration procedure is proposed which can estimate the parameters of LSF width function with only several images captured at new environment. Experimental results show that proposed model-based LSF detection overcomes normal LOG-based LSF detection.

Original languageEnglish
Pages (from-to)62-74
Number of pages13
JournalOptics and Lasers in Engineering
Volume47
Issue number1
DOIs
Publication statusPublished - 2009 Jan 1

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navigation
Navigation
irradiance
projection
spatial filtering
dynamic range
Pixels
pixels
Calibration
Imaging techniques

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Atomic and Molecular Physics, and Optics
  • Mechanical Engineering
  • Electrical and Electronic Engineering

Cite this

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Model-based light stripe detection for indoor navigation. / Jung, Ho Gi; Kim, Jaihie.

In: Optics and Lasers in Engineering, Vol. 47, No. 1, 01.01.2009, p. 62-74.

Research output: Contribution to journalArticle

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