Monocular Vision-Based Robot Localization and Target Tracking
Joint Authors
Jen, Cheng-Lung
Wu, Bing-Fei
Lu, Wang-Chuan
Source
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-01-11
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper presents a vision-based technology for localizing targets in 3D environment.
It is achieved by the combination of different types of sensors including optical wheel encoders, an electrical compass, and visual observations with a single camera.
Based on the robot motion model and image sequences, extended Kalman filter is applied to estimate target locations and the robot pose simultaneously.
The proposed localization system is applicable in practice because it is not necessary to have the initializing setting regarding starting the system from artificial landmarks of known size.
The technique is especially suitable for navigation and target tracing for an indoor robot and has a high potential extension to surveillance and monitoring for Unmanned Aerial Vehicles with aerial odometry sensors.
The experimental results present “cm” level accuracy of the localization of the targets in indoor environment under a high-speed robot movement.
American Psychological Association (APA)
Wu, Bing-Fei& Lu, Wang-Chuan& Jen, Cheng-Lung. 2012. Monocular Vision-Based Robot Localization and Target Tracking. Journal of Robotics،Vol. 2011, no. 2011, pp.1-12.
https://search.emarefa.net/detail/BIM-480507
Modern Language Association (MLA)
Wu, Bing-Fei…[et al.]. Monocular Vision-Based Robot Localization and Target Tracking. Journal of Robotics No. 2011 (2011), pp.1-12.
https://search.emarefa.net/detail/BIM-480507
American Medical Association (AMA)
Wu, Bing-Fei& Lu, Wang-Chuan& Jen, Cheng-Lung. Monocular Vision-Based Robot Localization and Target Tracking. Journal of Robotics. 2012. Vol. 2011, no. 2011, pp.1-12.
https://search.emarefa.net/detail/BIM-480507
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-480507