Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Localization of a Mobile Robot Using the Information of a Moving Object

운동물체의 정보를 이용한 이동로봇의 자기 위치 추정

  • 노동규 (부산대학교 전자공학과 졸업) ;
  • 김일명 (부산대학교 전자공학과 졸업) ;
  • 김병화 (부산대학교 전자공학과 졸업) ;
  • 이장명 (부산대학교 전자공학과 졸업)
  • Published : 2001.11.01
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Abstract

In this paper, we describe a method for the mobile robot using images of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot`s position. Since the equations are based on the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied to this method. Effectiveness of the proposed method is demonstrated by the simulation.

Keywords

References

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