ANALYSIS OF THE POSSIBILITY OF USING MARKERS EMITTING PULSATING LIGHT IN THE TASK OF LOCALIZATION
Piotr Miś
piotr.mis.stud@pw.edu.plWarsaw University of Technology, Faculty of Automotive and Construction Machinery Engineering (Poland)
Przemysław Szulim
Warsaw University of Technology, Faculty of Automotive and Construction Machinery Engineering, Warsaw (Poland)
Abstract
This work shows the possibility of using spectral analysis in order to detect characteristic points in recorded images. The specific point is a marker in the form of a diode that flashes at a certain frequency. Main assumptions of the processing algorithm are the recording of a sequence of images and treatment change of level of brightness for each pixel as a time signal. The amplitude spectrum is determined for each time signal. The result of data processing is an amplitude image whose pixels brightness corresponding to the intensity of source of pulsating light emitting specific frequency. This new data representation is used to detect position of markers. The algorithm was re¬searched in order to select optimal marker colors and pulsation frequency. The results are described in a summary.
Keywords:
image processing, spectrum analysis, pulsating marker, localization, mobile roboticsReferences
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Authors
Piotr Miśpiotr.mis.stud@pw.edu.pl
Warsaw University of Technology, Faculty of Automotive and Construction Machinery Engineering Poland
Authors
Przemysław SzulimWarsaw University of Technology, Faculty of Automotive and Construction Machinery Engineering, Warsaw Poland
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