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首页> 外文会议>2017 International Electronics Symposium on Knowledge Creation and Intelligent Computing >Utilization image of monocular camera to build navigation system and path mapping using SURF approach
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Utilization image of monocular camera to build navigation system and path mapping using SURF approach

机译：利用单眼相机的图像构建导航系统并使用SURF方法进行路径映射

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摘要

Navigation system of some camera devices such as robot could be done by measure the rotation of device's wheels and device's velocity. But in several cases, like device for rescue and surveillance, sometimes the device need to deal with an uneven surface that makes device's wheels slipped, impacting in navigation measurement. Fortunately, almost all of devices nowadays equipped with at least one camera to monitor the environment. So, this research purpose to utilization image of the camera vision that's been captured to build a navigation system. We will show that a simple monocular camera could build an alternative navigation system for several uses, while the system also navigates and tracks camera's paths to draw the path mapping. Firstly, we tried to detect the camera motion and its direction by using optical flow model. To improve this model, we use feature transform, which is SURF. Secondly, after we know the direction from feature transform, we got the formula to know the real direction and use it for drawing the path that camera took for tracking. We tested our application directly in our video stream camera and compare the system coordinate with the real world coordinate in centimeters unit.
机译：某些相机设备（例如机器人）的导航系统可以通过测量设备的车轮旋转和设备的速度来完成。但是在某些情况下，例如用于救援和监视的设备，有时该设备需要处理不平整的表面，从而使设备的车轮打滑，从而影响导航测量。幸运的是，当今几乎所有设备都配备了至少一台用于监视环境的摄像机。因此，本研究旨在利用已捕获的摄像机视觉图像来构建导航系统。我们将展示一个简单的单眼相机可以构建多种用途的替代导航系统，同时该系统还可以导航和跟踪相机的路径以绘制路径映射。首先，我们尝试使用光流模型检测相机的运动及其方向。为了改进此模型，我们使用特征转换，即SURF。其次，在了解了特征变换的方向之后，我们得到了知道真实方向的公式，并将其用于绘制相机进行跟踪的路径。我们直接在视频流摄像机中测试了我们的应用程序，然后将系统坐标与以厘米为单位的现实坐标进行比较。

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