전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제65권7호
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  • Pages.1283-1289
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  • 2016
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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천장 외곽선 전체 검출에 의한 모바일 로봇의 위치 인식

Localization of Mobile Robots by Full Detection of Ceiling Outlines

  • Kim, Young-Gyu (Dept. of Control and Robot Engineering, Chungbuk National University) ;
  • Park, Tae-Hyoung (Dept. of Electronics Engineering, Chungbuk National University)
  • 투고 : 2016.03.01
  • 심사 : 2016.06.22
  • 발행 : 2016.07.01
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초록

In this paper, we propose a new localization system using ceiling outlines. We acquire the entire ceiling image by using fisheye lens camera, and extract the lines by binarization and segmentation. The optical flow algorithm is then applied to identify the ceiling region from the segmented regions. Finally we obtain the position and orientation of the robot by the center position and momentum of ceiling region. Since we use the fully detected outlines, the accuracy and reliability of the localization system is improved. The experimental result are finally presented to show the effectiveness of the proposed method.

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참고문헌

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피인용 문헌

  1. EKF-based Simultaneous Localization and Mapping of Mobile Robot using Laser Corner Pattern Matching vol.65, pp.12, 2016, https://doi.org/10.5370/KIEE.2016.65.12.2095