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- Title
IMPROVING SELF-LOCALIZATION EFFICIENCY IN A SMALL MOBILE ROBOT BY USING A HYBRID FIELD OF VIEW VISION SYSTEM.
- Authors
Rostkowska, Marta; Skrzypczyński, Piotr
- Abstract
In this article a self-localization system fo r small mobile robots based on inexpensive cameras and unobtrusive, passive landmarks is presented and evaluated. The main contribution is the experimental evaluation of the hybrid field of view vision system fo r self-localization with artificial landmarks. The hybrid vision system consists of an omnidirectional, upward-looking camera with a mirror, and a typical, front-view camera. This configuration is inspired by the peripheral and fovea! vision co-operation in animals. We demonstrate that the omnidirectional camera enables the robot to detect quickly landmark candidates and to track the already known landmarks in the environment. The front-view camera guided by the omnidirectional information enables precise measurements of the landmark position over extended distances. The passive landmarks are based on QR codes, which makes possible to easily include in the landmark pattern additional information relevant fo r navigation. We present evaluation of the positioning accuracy of the system mounted on a SanBot Mk II mobile robot. The experimental results demonstrate that the hybrid field of view vision system and the QR code landmarks enable the small mobile robot to navigate safely along extended paths in a typical home environment.
- Publication
Journal of Automation, Mobile Robotics & Intelligent Systems, 2015, Vol 9, Issue 4, p28
- ISSN
1897-8649
- Publication type
Academic Journal
- DOI
10.14313/JAMRIS_4-2015/30