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Optical Navigation by recognition of reference labels using 3D calibration of camera.
Mid Sweden University, Faculty of Science, Technology and Media, Department of Information Technology and Media. (Machine Vision)
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis a machine vision based indoor navigation system is presented. This is achieved by using rotationally independent optimized color reference labels and a geometrical camera calibration model which determines a set of camera parameters. All reference labels carry one byte of information (0 to 255), which can be designed for different values. An algorithm in Matlab has been developed so that a machine vision system for N number of symbols can recognize the symbols at different orientations. A camera calibration model describes the mapping between the 3-D world coordinates and the 2-D image coordinates. The reconstruction system uses the direct linear transform (DLT) method with a set of control reference labels in relation to the camera calibration. The least-squares adjustment method has been developed to calculate the parameters of the machine vision system. In these experiments it has been demonstrated that the pose of the camera can be calculated, with a relatively high precision, by using the least-squares estimation.

Place, publisher, year, edition, pages
2013. , 57 p.
Keyword [en]
Reference labels, Pose, Area of interest, Direct linear transformation, Dimensions of freedom, Least square estimation
National Category
Engineering and Technology
URN: urn:nbn:se:miun:diva-18453OAI: diva2:604627
Educational program
Internationellt masterprogram i elektronikkonstruktion TELAA 120 hp
Available from: 2013-02-13 Created: 2013-02-11 Last updated: 2013-02-13Bibliographically approved

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Anwar, Qaiser
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