Accurate robot localization using a single camera

被引：0

作者：

Ricolfe-Viala, C ^{[1
]}

Sánchez-Salmerón, AJ ^{[1
]}

机构：

[1] Univ Politecn Valencia, Dept Syst Engn & Automat, Valencia 46022, Spain

来源：

Proceedings of the Fifth IASTED International Conference on Visualization, Imaging, and Image Processing | 2005年

关键词：

robot localization; camera calibration; Kalman filter;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Robot localization is an important issue in order to provide them truly autonomous capabilities. Several techniques exist. Basically they mix internal and external robot measurements using Kalman filter. In this paper a technique based on a single camera is presented. Robot localization is done using planar landmarks. Landmarks are used to calibrate the camera and to compute its position and orientation optimally in a global reference system. Camera calibration is carried out using Kalman filter updating the camera parameters with new data coming from a new image. It increases the accuracy of the localization process. Low uncertainty of robot position and orientation is achieved.

引用

页码：23 / 26

页数：4