A VISION GLOBAL LOCATION SYSTEM TECHNIQUE FOR MOBILE ROBOTS
WEI Fang1, DONG Zai-li2, SUN Mao-xiang1, WANG Xiao-lei2
1. School of Information Science and Eng. Shenyang University of Technology; 2. Shenyang Institute of Automation, Robotics Laboratory, The Chinese Academy of Sciences 110015
魏芳, 董再励, 孙茂相, 王晓蕾. 用于移动机器人的视觉全局定位系统研究[J]. 机器人, 2001, 23(5): 400-404,420..
WEI Fang, DONG Zai-li, SUN Mao-xiang, WANG Xiao-lei. A VISION GLOBAL LOCATION SYSTEM TECHNIQUE FOR MOBILE ROBOTS. ROBOT, 2001, 23(5): 400-404,420..
Abstract：This paper describes a vision global location system for mobile robot systems. It uses a global observation sensor to observe some artificial landmarks mounted in a work place. And then a data processing is used to obtain the sensor position and orientation in the environment. This paper mainly describes some improved methods of reliability and image processing speed for image target recognition, the optimal method for location calculation is mentioned as well. At last, the experiments are given to testify that such methods used for the vision sensor system are effective to guide a mobile robot system by global environments.
[1] Borenstein J, Everett H R, Feng L, Wehe D. Mobile Robot Positioning: Sensors and Techniques, Journal of Robotic Systems, 1997,14(4): 231-249 [2] Puneet Goel, Stetgios I. Roumeliotis and Gaurav S Sukhatme. Robust Localization Using Relative and Absolute Position Estimates. Proceeding of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1999: 1134-1140 [3] Claude Pegard, El Mustapha Mouaddib. A Mobile Robot Using a Panoramic View. Proceeding of the 1996 IEEE International Conference on Intelligent Robotics and Automation, 1996: 89-94 [4] Nishizawa T, Ohya A, yuta S. An Implementation of On-board Position Estimation for a Mobile Robot-EKF Based Odometry and Laser Reflector Landmarks Detection. Proceeding of the 1995 IEEE International Conference on Robotics and Automation, 1995, 395-400 [5] Margrit Betke, Leonid Gurvits. Mobile Robot Location Using Landmarks. IEEE Transaction on Robotics and Automation, 1997,13(2): 251-263
