LOCALIZATION SYSTEM OF A ROBOT FISH AND A LOCALIZATION METHOD OF THE ROBOT FISH, CAPABLE OF ESTIMATING RELATIVE LOCATION AND ROTATION INFORMATION THROUGH HOMOGRAPHY CONVERSION

摘要

PURPOSE: A localization system of a robot fish and a localization method of the robot fish are provided to enable to estimate a relative position and the rotation information of an object because changes of an image of an object changed viewing from different angles are expressed by homography conversion.;CONSTITUTION: A localization system of a robot fish(1) comprises a sensor(2), an image processing unit, and an information processing unit. The sensor is installed in the robot fish and scans images of a surrounding environment. The image processing unit distinguishes distorted image of a directional marker(10) among the images scanned by the sensor and processes. The information processing unit calculates disparity information by using a relation of the and distorted image of a directional marker corresponding points of the image output before distortion and calculates the location information or the rotation information of the robot fish by using the disparity information.;COPYRIGHT KIPO 2013