کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Image-Based Self-Localization Using Differential Observation Angle Based on Real-World Features

نویسندگان :

Seyed Mohammad Bagher Seyedin¹ Mahdi Goodarzi² Fereidoon Behnia³

1- Sharif university of technology 2- Sharif university of technology 3- Sharif university of technology

کلمات کلیدی :

Self-localization،camera pose estimation،differential observation angle،Quasi-Newton algorithm

چکیده :

In this paper, we propose a cost-effective and practical approach for two-dimensional image-based self-localization using a calibrated camera and identified Real-World Features (RWFs), such as natural landmarks and human-made structures. By mapping image pixels to observation angles through a straightforward calibration process, observation angles of RWFs presented in the image are obtained. Since the observation angles alone are insufficient without a known reference direction (e.g., north), the method leverages differential observation angles for localization. Using these differential angles and the known locations of the RWFs, we formulate an appropriate optimization problem, which is efficiently solved by a Quasi-Newton algorithm. We have evaluated the proposed approach in a practical scenario that involves three RWFs captured in a scene. The experimental results demonstrate sufficient performance and robustness against errors in calibration and pixel selection.

لیست مقالات

لیست مقالات بایگانی شده

Design and Simulation of Nano-Second Pulsed Power Generator for Cancer Treatment and Considering Load Effect

Reza PirNia - Maryam A.Hejazi - Nasrin Deldadeh

Small Target Detection Using an Enhanced Optimization Based Filter and Trajectory Tracking Via Pattern Matching Algorithm

Seyedeh Mahsa Zakipour Bahambari - Saeed Khankalantary

Optimization of 915nm laser diode asymmetric ‎structure: experimental and theoretical studies in ‎tandem

Seyed peyman Abbasi - Maryam Lajvardi - Arash Hodaei

Gray Box High-Frequency Modeling of Transformer using Particle Swarm Optimization

Mehdi Shamsodini Lori - Mohammad Hamed Samimi - Jawad Faiz

Designing of Multilayer Planar Spiral Air-Core Inductor for Power Electronic Applications

Mohammad Khakroei - Mohsen Mostafaei - Mansour Arefian - Afshin Rezaei-Zare - Majid Najafi Zarmehri

کدینگ فیبوناچی جهش یافته: ارائه یک روش برای افزایش قابلیت اطمینان در شبکه‌های روی تراشه سه‌بعدی

مجتبی فرمانی - سروین ناظر جعفری - زهرا شیرمحمدی

Multi-objective Optimization of Peer-to-Peer Transactions in Arizona State University’s Microgrid by NSGA II

Pourya Shirinshahrakfard - Amir Abolfazl Suratgar - Mohammad Bagher Menhaj - Gevork B. Gharehpetian

Implementation of an Optimized Deep Learning Model to Assess Pediatric Sleep Apnea Severity Using SpO2 Signals on Resource-Limited Microcontrollers

Erfan Mortazavi - Hanieh Mohammadi - Bahram Tarvirdizadeh - Khalil Alipour - Mohammad Ghamari

Mapping Human Grasping to 3-Finger Grippers: A Deep Learning Perspective

Fatemeh Naeinian - Elnaz Balazadeh - Mehdi Tale Masouleh

Study of an Improved Flux Reversal Permanent Magnet Outer-Rotor Motor

Mohammad Reza Sarshar - Mohammad Amin Jalali Kondelaji - Mojtaba Mirsalim

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.8.0