실내 환경에서의 로봇 자율주행을 위한 천장영상으로부터의 이종 특징점을 이용한 단일비전 기반 자기 위치 추정 시스템 Monocular Vision Based Localization System using Hybrid Features from Ceiling Images for Robot Navigation in an Indoor Environment

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This paper presents a localization system using ceiling images in a large indoor environment. For a system with low cost and complexity, we propose a single camera based system that utilizes ceiling images acquired from a camera installed to point upwards. For reliable operation, we propose a method using hybrid features which include natural landmarks in a natural scene and artificial landmarks observable in an infrared ray domain. Compared with previous works utilizing only infrared based features, our method reduces the required number of artificial features as we exploit both natural and artificial features. In addition, compared with previous works using only natural scene, our method has an advantage in the convergence speed and robustness as an observation of an artificial feature provides a crucial clue for robot pose estimation. In an experiment with challenging situations in a real environment, our method was performed impressively in terms of the robustness and accuracy. To our knowledge, our method is the first ceiling vision based localization method using features from both visible and infrared rays domains. Our system can be easily utilized with a variety of service robot applications in a large indoor environment.
Publisher
한국로봇학회
Issue Date
2011-09
Language
Korean
Citation

로봇학회 논문지, v.6, no.3, pp.197 - 209

ISSN
1975-6291
URI
http://hdl.handle.net/10203/100341
Appears in Collection
EE-Journal Papers(저널논문)
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