Localization Method Based on Image Processing for Autonomous Driving of Mobile Robot in the Linear Infrastructure

Hyunwoo Song; Jun Nakahama; Yogo Takada

doi:doi:10.11648/j.acis.20210901.15

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Localization Method Based on Image Processing for Autonomous Driving of Mobile Robot in the Linear Infrastructure

Hyunwoo Song, Jun Nakahama, Yogo Takada

Published in Automation, Control and Intelligent Systems (Volume 9, Issue 1)

Received: 18 January 2021 Accepted: 17 March 2021 Published: 12 April 2021

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Abstract

In recent years, the deterioration of infrastructure facilities such as bridges has become a problem. Precautionary measures such as visual inspection and repair by humans are in place as countermeasures for aging; however, there are issues with cost and safety in such inspections. If inspection by robots becomes possible, both these aspects will be improved, which will significantly contribute to the maintenance of infrastructure facilities. In this paper, we propose a complex image processing technique to specify the location of feature points as coordinates through smartphone cameras to obtain the location information of feature points needed for positioning BIREM-IV-P developed to support bridge inspection. The corners located in the bridge inspection environment are used as feature points, and the corners are specified using Harris corner detection, which is a conventional corner detection method, to obtain the position of the feature points. In addition, to compensate for the shortcomings of Harris corner detection, a line segment in the image is detected using the Hough transform, and the intersection points of the line segments are recognized as corners. By combining the results of the two detection methods in this manner, the target feature points can be accurately specified. Then, the position of the feature points of the specified image coordinate system can be changed to the world coordinate system. As a result, it was possible to detect the location of the target feature points in a three-dimensional coordinate system.

Published in	Automation, Control and Intelligent Systems (Volume 9, Issue 1)
DOI	10.11648/j.acis.20210901.15
Page(s)	34-45
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2021. Published by Science Publishing Group

Keywords

Corner Detection, Hough Transform, Harris Corner Detection, Image Processing, Coordinate Transformation

References

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APA Style

Hyunwoo Song, Jun Nakahama, Yogo Takada. (2021). Localization Method Based on Image Processing for Autonomous Driving of Mobile Robot in the Linear Infrastructure. Automation, Control and Intelligent Systems, 9(1), 34-45. https://doi.org/10.11648/j.acis.20210901.15

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ACS Style

Hyunwoo Song; Jun Nakahama; Yogo Takada. Localization Method Based on Image Processing for Autonomous Driving of Mobile Robot in the Linear Infrastructure. Autom. Control Intell. Syst. 2021, 9(1), 34-45. doi: 10.11648/j.acis.20210901.15

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AMA Style

Hyunwoo Song, Jun Nakahama, Yogo Takada. Localization Method Based on Image Processing for Autonomous Driving of Mobile Robot in the Linear Infrastructure. Autom Control Intell Syst. 2021;9(1):34-45. doi: 10.11648/j.acis.20210901.15

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@article{10.11648/j.acis.20210901.15,
  author = {Hyunwoo Song and Jun Nakahama and Yogo Takada},
  title = {Localization Method Based on Image Processing for Autonomous Driving of Mobile Robot in the Linear Infrastructure},
  journal = {Automation, Control and Intelligent Systems},
  volume = {9},
  number = {1},
  pages = {34-45},
  doi = {10.11648/j.acis.20210901.15},
  url = {https://doi.org/10.11648/j.acis.20210901.15},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20210901.15},
  abstract = {In recent years, the deterioration of infrastructure facilities such as bridges has become a problem. Precautionary measures such as visual inspection and repair by humans are in place as countermeasures for aging; however, there are issues with cost and safety in such inspections. If inspection by robots becomes possible, both these aspects will be improved, which will significantly contribute to the maintenance of infrastructure facilities. In this paper, we propose a complex image processing technique to specify the location of feature points as coordinates through smartphone cameras to obtain the location information of feature points needed for positioning BIREM-IV-P developed to support bridge inspection. The corners located in the bridge inspection environment are used as feature points, and the corners are specified using Harris corner detection, which is a conventional corner detection method, to obtain the position of the feature points. In addition, to compensate for the shortcomings of Harris corner detection, a line segment in the image is detected using the Hough transform, and the intersection points of the line segments are recognized as corners. By combining the results of the two detection methods in this manner, the target feature points can be accurately specified. Then, the position of the feature points of the specified image coordinate system can be changed to the world coordinate system. As a result, it was possible to detect the location of the target feature points in a three-dimensional coordinate system.},
 year = {2021}
}

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TY  - JOUR
T1  - Localization Method Based on Image Processing for Autonomous Driving of Mobile Robot in the Linear Infrastructure
AU  - Hyunwoo Song
AU  - Jun Nakahama
AU  - Yogo Takada
Y1  - 2021/04/12
PY  - 2021
N1  - https://doi.org/10.11648/j.acis.20210901.15
DO  - 10.11648/j.acis.20210901.15
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 34
EP  - 45
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20210901.15
AB  - In recent years, the deterioration of infrastructure facilities such as bridges has become a problem. Precautionary measures such as visual inspection and repair by humans are in place as countermeasures for aging; however, there are issues with cost and safety in such inspections. If inspection by robots becomes possible, both these aspects will be improved, which will significantly contribute to the maintenance of infrastructure facilities. In this paper, we propose a complex image processing technique to specify the location of feature points as coordinates through smartphone cameras to obtain the location information of feature points needed for positioning BIREM-IV-P developed to support bridge inspection. The corners located in the bridge inspection environment are used as feature points, and the corners are specified using Harris corner detection, which is a conventional corner detection method, to obtain the position of the feature points. In addition, to compensate for the shortcomings of Harris corner detection, a line segment in the image is detected using the Hough transform, and the intersection points of the line segments are recognized as corners. By combining the results of the two detection methods in this manner, the target feature points can be accurately specified. Then, the position of the feature points of the specified image coordinate system can be changed to the world coordinate system. As a result, it was possible to detect the location of the target feature points in a three-dimensional coordinate system.
VL  - 9
IS  - 1
ER  -

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Author Information

Hyunwoo Song

Mechanical and Physical Engineering Graduate School, Osaka City University, Osaka, Japan
Jun Nakahama

Mechanical Engineering, Osaka City University, Osaka, Japan
Yogo Takada

Mechanical and Physical Engineering Graduate School, Osaka City University, Osaka, Japan

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Plain Text BibTeX RIS

APA Style

Hyunwoo Song, Jun Nakahama, Yogo Takada. (2021). Localization Method Based on Image Processing for Autonomous Driving of Mobile Robot in the Linear Infrastructure. Automation, Control and Intelligent Systems, 9(1), 34-45. https://doi.org/10.11648/j.acis.20210901.15

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ACS Style

Hyunwoo Song; Jun Nakahama; Yogo Takada. Localization Method Based on Image Processing for Autonomous Driving of Mobile Robot in the Linear Infrastructure. Autom. Control Intell. Syst. 2021, 9(1), 34-45. doi: 10.11648/j.acis.20210901.15

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AMA Style

Hyunwoo Song, Jun Nakahama, Yogo Takada. Localization Method Based on Image Processing for Autonomous Driving of Mobile Robot in the Linear Infrastructure. Autom Control Intell Syst. 2021;9(1):34-45. doi: 10.11648/j.acis.20210901.15

Copy | Download

@article{10.11648/j.acis.20210901.15,
  author = {Hyunwoo Song and Jun Nakahama and Yogo Takada},
  title = {Localization Method Based on Image Processing for Autonomous Driving of Mobile Robot in the Linear Infrastructure},
  journal = {Automation, Control and Intelligent Systems},
  volume = {9},
  number = {1},
  pages = {34-45},
  doi = {10.11648/j.acis.20210901.15},
  url = {https://doi.org/10.11648/j.acis.20210901.15},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20210901.15},
  abstract = {In recent years, the deterioration of infrastructure facilities such as bridges has become a problem. Precautionary measures such as visual inspection and repair by humans are in place as countermeasures for aging; however, there are issues with cost and safety in such inspections. If inspection by robots becomes possible, both these aspects will be improved, which will significantly contribute to the maintenance of infrastructure facilities. In this paper, we propose a complex image processing technique to specify the location of feature points as coordinates through smartphone cameras to obtain the location information of feature points needed for positioning BIREM-IV-P developed to support bridge inspection. The corners located in the bridge inspection environment are used as feature points, and the corners are specified using Harris corner detection, which is a conventional corner detection method, to obtain the position of the feature points. In addition, to compensate for the shortcomings of Harris corner detection, a line segment in the image is detected using the Hough transform, and the intersection points of the line segments are recognized as corners. By combining the results of the two detection methods in this manner, the target feature points can be accurately specified. Then, the position of the feature points of the specified image coordinate system can be changed to the world coordinate system. As a result, it was possible to detect the location of the target feature points in a three-dimensional coordinate system.},
 year = {2021}
}

Copy | Download

TY  - JOUR
T1  - Localization Method Based on Image Processing for Autonomous Driving of Mobile Robot in the Linear Infrastructure
AU  - Hyunwoo Song
AU  - Jun Nakahama
AU  - Yogo Takada
Y1  - 2021/04/12
PY  - 2021
N1  - https://doi.org/10.11648/j.acis.20210901.15
DO  - 10.11648/j.acis.20210901.15
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 34
EP  - 45
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20210901.15
AB  - In recent years, the deterioration of infrastructure facilities such as bridges has become a problem. Precautionary measures such as visual inspection and repair by humans are in place as countermeasures for aging; however, there are issues with cost and safety in such inspections. If inspection by robots becomes possible, both these aspects will be improved, which will significantly contribute to the maintenance of infrastructure facilities. In this paper, we propose a complex image processing technique to specify the location of feature points as coordinates through smartphone cameras to obtain the location information of feature points needed for positioning BIREM-IV-P developed to support bridge inspection. The corners located in the bridge inspection environment are used as feature points, and the corners are specified using Harris corner detection, which is a conventional corner detection method, to obtain the position of the feature points. In addition, to compensate for the shortcomings of Harris corner detection, a line segment in the image is detected using the Hough transform, and the intersection points of the line segments are recognized as corners. By combining the results of the two detection methods in this manner, the target feature points can be accurately specified. Then, the position of the feature points of the specified image coordinate system can be changed to the world coordinate system. As a result, it was possible to detect the location of the target feature points in a three-dimensional coordinate system.
VL  - 9
IS  - 1
ER  -

Copy | Download