Distortion and Scale Estimation for Robust Tag Registration

摘要

This paper proposes a new method to estimate distortion for template matching. Matching object images from scenes to pre-obtained reference images is necessary for robot mobility, but matching error due to distortion of object images remains a problem. There are two measures of distortion: "scale" which represents the distortion of distance from an object to the robot determined using a camera, and "directional distortion" which represents the distortion of direction that is due to the relative postures and positions of objects to the mobile robot. The latter is considered to involve rotation around the vertical axis, the y-axis, of the image plane. The paper proposes the Orthogonal Projection Distortion method (OPD) to estimate directional distortion and uses it with the image correction method to improve similarity. We demonstrate the effectiveness of the approach experimentally using actual images.