Estimation accuracy of self-localization using a single omni-directional camera based on arrangement of landmarks

Abstract

This paper investigates estimation accuracy of a self localization method with single omni-directional camera. This method uses positions and arrangement of landmarks which are preliminarily obtained, and estimates the position of omni-directional camera. Note that measurements of distances between the camera and the landmarks are not required, which are needed for conventional self-localization method but becomes the major reason of estimation errors. Therefore, this method avoids the estimation errors due to the measurement error of the distance measurement. The geometric non-linear simultaneous equations consists of the cosine formulas are solved by recursive least squares method. This paper studies the relationship between the estimation accuracy and the digital camera resolution by conducting simulations which considers a camera resolution model when using an actual omni-directional camera.