System for Indoor Localization of Mobile Robots by Using Machine Vision

被引：0

作者：

Jankovic, Nemanja V. ^{[1
]}

Ciric, Svetislav V. ^{[1
]}

Jovicic, Nenad S. ^{[1
]}

机构：

[1] Univ Belgrade, Sch Elect Engn, Bul Kralja Aleksandra 73, Belgrade 11120, Serbia

来源：

2015 23RD TELECOMMUNICATIONS FORUM TELFOR (TELFOR) | 2015年

关键词：

mobile robots; localization; vision;

D O I：

暂无

中图分类号：

TN [电子技术、通信技术];

学科分类号：

0809 ;

摘要：

This paper presents a simple but accurate real-time system for indoor localization of mobile robots in known environment. It comprises fixed camera placed above the planar terrain, active landmarks placed on the top of the robots and image processing algorithm running on dedicated computer. The outputs from the system are position and orientation of active landmark. The system can be used standalone or as a part of another larger system. It is equipped with appropriate communication interface and can be used as the reference system for testing and evaluation of other localization systems.

引用

页码：619 / 622

页数：4

共 7 条

[1]

Agrawal M, 2006, INT C PATT RECOG, P1063

[2] Measurement and correction of systematic odometry errors in mobile robots [J].

Borenstein, J ;

Feng, L .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1996, 12 (06) :869-880

[3]

Navarro-Serment L. E., 1999, P INT C FIELD SERV R, V6

[4] An outdoor navigation system using GPS and inertial platform [J].

Panzieri, S ;

Pascucci, F ;

Ulivi, G .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2002, 7 (02) :134-142

[5]

Se S, 2001, IEEE INT CONF ROBOT, P2051, DOI 10.1109/ROBOT.2001.932909

[6]

Tsai CC, 1998, IEEE IMTC P, P144, DOI 10.1109/IMTC.1998.679741

[7] MAV Navigation through Indoor Corridors Using Optical Flow [J].

Zingg, Simon ;

Scaramuzza, Davide ;

Weiss, Stephan ;

Siegwart, Roland .

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, :3361-3368

← 1 →