Stereo vision-based real-time localization of electric vehicle battery in the complex environment

被引:2
作者
Chen, Jing [1 ]
Xu, Wenqiang [2 ]
Seng, Dewen [1 ]
Peng, Weimin [1 ]
机构
[1] Hangzhou Dianzi Univ, Sch Comp Sci & Technol, Hangzhou, Zhejiang, Peoples R China
[2] China Jiliang Univ, Coll Econ & Management, Hangzhou, Zhejiang, Peoples R China
基金
中国国家自然科学基金;
关键词
Stereo vision; joint calibration; real-time matching; feature detection; pose normalization; LOW-COST; SYSTEM; REGION;
D O I
10.1080/01691864.2016.1183519
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
The approach to passive stereo vision-based real-time localization is developed in this context, as it can adapt to complex factors such as the illuminations, backgrounds, viewing angles, and occlusions. After the calibration of the visual coordinates, the proposed system can jointly calibrate the robots and the vision systems flexibly by controlling the terminal positions of the robots. The fast phase-only correlation algorithm is proposed to considerably improve the matching efficiency of the image pairs. Pose normalization and regional three-dimensional vector feature detection can make the proposed system robust to the surface patterns of the cars and the battery shapes, allowing for reliable localization and detection. The proposed real-time system has been verified in the practical application.
引用
收藏
页码:1050 / 1060
页数:11
相关论文
共 28 条
[1]   Practical applications of multiple signal classification [J].
Agarwal, Krishna ;
Pan, Li ;
Leong, Yew Kong ;
Han, Marcus ;
Chan, On Yu ;
Chen, Xudong ;
Yeo, Swee Ping .
INTERNATIONAL JOURNAL OF RF AND MICROWAVE COMPUTER-AIDED ENGINEERING, 2012, 22 (03) :359-369
[2]   Tightly-coupled stereo vision-aided inertial navigation using feature-based motion sensors [J].
Asadi, E. ;
Bottasso, C. L. .
ADVANCED ROBOTICS, 2014, 28 (11) :717-729
[3]   Comparative Evaluation of Reported Speeds from Corresponding Fixed-Point and Probe-Based Detection Systems [J].
Chase, R. Thomas ;
Williams, Billy M. ;
Rouphail, Nagui M. ;
Kim, SangKey .
TRANSPORTATION RESEARCH RECORD, 2012, (2308) :110-119
[4]  
Chen XZ, 2007, LECT NOTES CONTR INF, V362, P171
[5]   The Impact of Charging Plug-In Hybrid Electric Vehicles on a Residential Distribution Grid [J].
Clement-Nyns, Kristien ;
Haesen, Edwin ;
Driesen, Johan .
IEEE TRANSACTIONS ON POWER SYSTEMS, 2010, 25 (01) :371-380
[6]   A Low Cost Automatic Detection and Ranging System for Space Surveillance in the Medium Earth Orbit Region and Beyond [J].
Danescu, Radu ;
Ciurte, Anca ;
Turcu, Vlad .
SENSORS, 2014, 14 (02) :2703-2731
[7]  
Di Stefano L, 2003, MACH VISION APPL, V13, P213
[8]   Vehicular Traffic Surveillance and Road Lane Detection Using Radar Interferometry [J].
Felguera-Martin, David ;
Gonzalez-Partida, Jose-Tomas ;
Almorox-Gonzalez, Pablo ;
Burgos-Garcia, Mateo .
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2012, 61 (03) :959-970
[9]   Detecting subcanopy invasive plant species in tropical rainforest by integrating optical and microwave (InSAR/PolInSAR) remote sensing data, and a decision tree algorithm [J].
Ghulam, Abduwasit ;
Porton, Ingrid ;
Freeman, Karen .
ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING, 2014, 88 :174-192
[10]   COMPUTATIONAL EXPERIMENTS WITH A FEATURE BASED STEREO ALGORITHM [J].
GRIMSON, WEL .
IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 1985, 7 (01) :17-34