Monocular Vision-based Sensor for Autonomous Mobile Robot Localization by Circular Markers

• Autorzy: Lu J. , Shi J. , Wu S.

Warianty tytułu

PL

Jedno-okularowy czujnik wizyjny do lokalizacji autonomicznego robota mobilnego z zastosowaniem markerów kołowych

• Języki publikacji: EN

Abstrakty

EN

To navigate reliably in indoor environments, a mobile robot must know where it is. This paper is concerned with the design of a monocular vision-based algorithm for on-line estimation of a mobile robot’s location using circular markers. The algorithm is based on 3-D analytic geometry, which is capable of estimating both the orientation and the position of the camera by a single camera image. The method can be used for camerarobot calibration for eye-on-hand systems, and autonomous mobile robot guidance. Laboratory experiments using a moving cylindrical object demonstrate both the accuracy and stability of the method.

PL

Robot mobilny, aby wiarygodnie nawigować we wnętrzu, musi znać swoje położenie. Opracowanie, w celu oszacowania bieżącego położenia robota, koncentruje się na projekcie algorytmu opartego o obraz jedno-okularowy, z zastosowaniem markerów kołowych. Algorytm przeprowadza analizę w geometrii 3D, co umożliwia oszacowanie zarówno orientacji jak i położenia kamery na podstawie danych obrazu z jednej kamery. Metoda może być zastosowana do kalibracji robota-kamery w systemie oko-ręka i do sterowania autonomicznym robotem mobilnym. Zademonstrowano eksperymenty laboratoryjne z wykorzystaniem obiektu cylindrycznego, analizując zarówno dokładność jak i stabilność metody.

Słowa kluczowe

EN

vision-based sensor; monocular vision; 3-D localization; circular marker

PL

widok jedno-okularowy; lokalizacja 3D; marker kołowy; czujniki wizyjne

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2013
• Tom: R. 89, nr 1b
• Strony: 131--133
• Opis fizyczny: Bibliogr. 13 poz., rys., tab.

Twórcy

autor

Lu J.

• School of Optoelectronic Science and Engineering, Huazhong Univ. of Science and Technology
• Dept. of Computer Science and Technology, Hubei Univ. of Education

autor

Shi J.

• Dept. of Computer Science and Technology, Hubei Univ. of Education

autor

Wu S.

• The Command of PLA Guangdong Province Zhuhai Sub-Military Region

Bibliografia

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