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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Visibility Sensor with Stereo Infrared Light Sources for Mobile Robot Motion Estimation

주행 로봇 움직임 추정용 스테레오 적외선 조명 기반 Visibility 센서

  • 이민영 (홍익대학교 기계시스템디자인공학과) ;
  • 이수용 (홍익대학교 기계시스템디자인공학과)
  • Received : 2010.11.15
  • Accepted : 2010.12.20
  • Published : 2011.02.01
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Abstract

This paper describes a new sensor system for mobile robot motion estimation using stereo infrared light sources and a camera. Visibility is being applied to robotic obstacle avoidance path planning and localization. Using simple visibility computation, the environment is partitioned into many visibility sectors. Based on the recognized edges, the sector a robot belongs to is identified and this greatly reduces the search area for localization. Geometric modeling of the vision system enables the estimation of the characteristic pixel position with respect to the robot movement. Finite difference analysis is used for incremental movement and the error sources are investigated. With two characteristic points in the image such as vertices, the robot position and orientation are successfully estimated.

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References

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