Vision-based Localization from Three-Line Structures (TLS)

作     者：Zhao-Zheng Hu Na Li 

作者机构：School of Information EngineeringHebei University of Technology 

出 版 物：《Journal of Harbin Institute of Technology(New Series)》 (哈尔滨工业大学学报（英文版）)

年 卷 期：2013年第20卷第3期

页      面：48-55页

核心收录：

学科分类：081203[工学-计算机应用技术] 08[工学] 0835[工学-软件工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Sponsored by the National Natural Science Foundation of China (Grant No. 51208168) the Research Grant from the Department of Education of Liaoning Province (Grant No. L2010060) 

主　　题：vision-based localization three-line structure camera pose computer vision 

摘      要：This paper presents a novel vision based localization algorithm from three-line structure ( TLS) .Two types of TLS are investigated: 1) three parallel lines ( Structure I) ; 2) two parallel lines and one orthogonal line ( Structure II) .From single image of either structure,the camera pose can be uniquely computed for vision *** of this paper are as follows: 1 ) both TLS structures can be used as simple and practical landmarks,which are widely available in daily life; 2) the proposed algorithm complements existing localization methods,which usually use complex landmarks,especially in the partial blockage conditions; 3) compared with the general Perspective-3-Lines ( P3L) problem,camera pose can be uniquely computed from either *** proposed algorithm has been tested with both simulation and real image *** a typical simulated indoor condition ( 75 cm-size landmark,less than 7.0 m landmark-to-camera distance,and 0.5-pixel image noises) ,the means of localization errors from Structure I and Structure II are less than 3.0 *** the standard deviations are less than 3.0 cm and 1.5 cm,*** algorithm is further validated with two actual image *** a 7.5 m × 7.5 m indoor situation,the overall relative localization errors from Structure I and Structure II are less than 2.2% and 2.3% ,respectively,with about 6.0 m *** results demonstrate that the algorithm works well for practical vision localization.