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http://dx.doi.org/10.5762/KAIS.2013.14.12.6420

Research to improve the performance of self localization of mobile robot utilizing video information of CCTV  

Park, Jong-Ho (Department of Electrical & Electronic Engineering, Seonam University)
Jeon, Young-Pil (Department of Electronic Engineering, Chonbuk National University)
Ryu, Ji-Hyoung (Department of Electronic Engineering, Chonbuk National University)
Yu, Dong-Hyun (Department of Electronic Engineering, Chonbuk National University)
Chong, Kil-To (Department of Electronic Engineering, Chonbuk National University)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.14, no.12, 2013 , pp. 6420-6426 More about this Journal
Abstract
The indoor areas for the commercial use of automatic monitoring systems of mobile robot localization improves the cognitive abilities and the needs of the environment with this emerging and existing mobile robot localization, and object recognition methods commonly around its great sensor are leveraged. On the other hand, there is a difficulty with a problem-solving self-location estimation in indoor mobile robots using only the sensors of the robot. Therefore, in this paper, a self-position estimation method for an enhanced and effective mobile robot is proposed using a marker and CCTV video that is already installed in the building. In particular, after recognizing a square mobile robot and the object from the input image, and the vertices were confirmed, the feature points of the marker were found, and marker recognition was then performed. First, a self-position estimation of the mobile robot was performed according to the relationship of the image marker and a coordinate transformation was performed. In particular, the estimation was converted to an absolute coordinate value based on CCTV information, such as robots and obstacles. The study results can be used to make a convenient self-position estimation of the robot in the indoor areas to verify the self-position estimation method of the mobile robot. In addition, experimental operation was performed based on the actual robot system.
Keywords
External Image; Localization; Marker; Mobile Robot;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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