Building Blocks for Autonomous Navigation using Contour Correspondences (TA-P1)

Author(s) : M. Pawan Kumar (CVIT, IIIT, India) C. V. Jawahar (CVIT, IIIT, India) P. J. Narayanan (CVIT, IIIT, India)

Abstract : We address a few problems in navigation of automated vehicles using images captured by a mounted camera. Specifically, we look at the recognition of sign boards, rectification of planar objects imaged by the camera, and estimation of the position of a vehicle with respect to a fixed sign board. Our solutions are based on contour correspondence between a reference view and the current view. A mapping between corresponding points of a planar object in two different views is a $3x3$ matrix called the homography. A novel two-step linear algorithm for homography calculation from contour correspondence is developed first. Our algorithm requires the identification of an image contour as the projections of a known planar world contour and the selection of a known starting point. The homography between the reference view and the target view is applied to several real-life navigation applications, results of which are presented in this paper.

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