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ID 53641
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Abstract
This paper presents a practical path-tracking method for a mobile robot with only a downward camera facing the passage plane. A unique algorithm for tracking and searching ground images with natural texture is used to localize the robot without a feature-point extraction scheme commonly used in other visual odometry methods. In our tracking algorithm, groups of reference pixels are used to detect the relative translation and rotation between frames. Furthermore, a reference pixel group of another shape is registered both to record a path and to correct errors accumulated during localization. All image processing and robot control operations are carried out with low memory consumption for image registration and fast calculation times for completing the searches on a laptop PC. We also describe experimental results in which a vehicle developed by the proposed method repeatedly performed precise path tracking under indoor and outdoor environments.
Published Date
2015-09-28
Publication Title
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
IEEE Robotics & Automation Society
Start Page
6053
End Page
6058
Content Type
Conference Paper
language
英語
Copyright Holders
© Copyright 2015 IEEE Robotics & Automation Society
Event Title Alternative
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location
Hamburg, Germany
Event Dates
September 28 – October 02, 2015
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Refereed
True