Journal ArticleDOI
Position verification of a mobile robot using standard pattern
M. Kabuka,A. Arenas +1 more
- Vol. 3, Iss: 6, pp 505-516
Reads0
Chats0
TLDR
The critical geometric dimensions of a standard pattern are used here to locate the relative position of the mobile robot with respect to the pattern; by doing so, the method does not depend on values of any intrinsic camera parameters, except the focal length.Abstract:
As mobile robots are taking on more and more of the tasks that were normally delegated to humans, they need to acquire higher degrees of autonomous operation, which calls for accurate and efficient position determination and/or verification The critical geometric dimensions of a standard pattern are used here to locate the relative position of the mobile robot with respect to the pattern; by doing so, the method does not depend on values of any intrinsic camera parameters, except the focal length In addition, this method has the advantages of simplicity and flexibility This standard pattern is also provided with a unique identification code, using bar codes, that enables the system to find the absolute location of the pattern These bar codes also assist in the scanning algorithms to locate the pattern in the environment A thorough error analysis and experimental results obtained through software simulation are presented, as well as the current direction of our workread more
Citations
More filters
Journal ArticleDOI
Vision for mobile robot navigation: a survey
TL;DR: The developments of the last 20 years in the area of vision for mobile robot navigation are surveyed and the cases of navigation using optical flows, using methods from the appearance-based paradigm, and by recognition of specific objects in the environment are discussed.
Journal ArticleDOI
Visual Navigation for Mobile Robots: A Survey
TL;DR: The outline to mapless navigation includes reactive techniques based on qualitative characteristics extraction, appearance-based localization, optical flow, features tracking, plane ground detection/tracking, etc... the recent concept of visual sonar has also been revised.
Proceedings ArticleDOI
Position estimation for a mobile robot using vision and odometry
F. Chenavier,James L. Crowley +1 more
TL;DR: A method for locating a mobile robot moving in a known environment that combines position estimation from odometry with observations of the environment from a mobile camera is described.
Journal ArticleDOI
Three-dimensional location estimation of circular features for machine vision
TL;DR: A closed-form analytical solution to the problem of 3D estimation of circular-feature location is presented and two different cases are considered: 3D orientation and position estimation when the radius is known and when it is not known.
Journal ArticleDOI
A new efficient and direct solution for pose estimation using quadrangular targets: algorithm and evaluation
Mongi A. Abidi,T. Chandra +1 more
TL;DR: An algorithm for pose estimation based on the volume measurement of tetrahedra composed of feature-point triplets extracted from an arbitrary quadrangular target and the lens center of the vision system is proposed.
References
More filters
Journal ArticleDOI
TV image processing to determine the position of a robot vehicle
TL;DR: An algorithm for determining the position of a robot from only one TV image has been developed by transforming the standard square pattern of the input image into its skeleton by applying the method of least squares.
Proceedings ArticleDOI
Determining the position of a robot using a single calibration object
Michael Magee,Jake K. Aggarwal +1 more
TL;DR: A procedure for determining the position uniquely, of a mobile robot in a three-dimensional space is presented and provides good results as long as the sphere is projected onto a large portion of the image plane.
Journal ArticleDOI
Real-time gray-scale video processing using a moment- generating chip
TL;DR: A system for performing visual processing on gray-scale images in real time (60 Hz) has been constructed and is expected to find application in real-time sensor-based electronic assembly and in automated inspection and registration tasks.
Journal ArticleDOI
Range Measurements by a Mobile Robot Using a Navigation Line
TL;DR: Two methods are developed for determining the range of an object in the sensor's field of view using a continuous, straight-edged line used for the visual navigation of an autonomous mobile robot in a factor environment.