ID | 53641 |
FullText URL | |
Author | |
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.
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Published Date | 2015-09-28
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Publication Title |
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Publisher | IEEE Robotics & Automation Society
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Start Page | 6053
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End Page | 6058
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Content Type |
Conference Paper
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language |
English
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Copyright Holders | © Copyright 2015 IEEE Robotics & Automation Society
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Event Title Alternative | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Event Location | Hamburg, Germany
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Event Dates | September 28 – October 02, 2015
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File Version | author
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Refereed |
True
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