대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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- Pages.2780-2782
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- 2005
시각기반 센서 네트워크를 이용한 이동로봇의 위치 추정
Mobile Robot Localization using Ubiquitous Vision System
- Dao, Nguyen Xuan (Intelligent Robotics Research Center, KIST) ;
- Kim, Chi-Ho (Intelligent Robotics Research Center, KIST) ;
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You, Bum-Jae
(Intelligent Robotics Research Center, KIST)
- 발행 : 2005.07.18
초록
In this paper, we present a mobile robot localization solution by using a Ubiquitous Vision System (UVS). The collective information gathered by multiple cameras that are strategically placed has many advantages. For example, aggregation of information from multiple viewpoints reduces the uncertainty about the robots' positions. We construct UVS as a multi-agent system by regarding each vision sensor as one vision agent (VA). Each VA performs target segmentation by color and motion information as well as visual tracking for multiple objects. Our modified identified contractnet (ICN) protocol is used for communication between VAs to coordinate multitask. This protocol raises scalability and modularity of thesystem because of independent number of VAs and needless calibration. Furthermore, the handover between VAs by using ICN is seamless. Experimental results show the robustness of the solution with respect to a widespread area. The performance in indoor environments shows the feasibility of the proposed solution in real-time.
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