이동로봇주행을 위한 영상처리 기술

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This paper presents a new algorithm for the self-localization of a mobile robot using one degree perspective invariant(Cross Ratio). Most of conventional model-based self-localization methods have some problems that data structure building, map updating and matching processes are very complex. Use of a simple cross ratio can be effective to the above problems. The algorithm is based on two basic assumptions that the ground plane is flat and two locally parallel side-lines are available. Also it is assumed that an environmental map is available for matching between the scene and the model. To extract an accurate steering angle for a mobile robot, we take advantage of geometric features such as vanishing points. Feature points for cross ratio are extracted robustly using a vanishing point and intersection points between two locally parallel side-lines and vertical lines. Also the local position estimation problem has been treated when feature points exist less than 4 points in the viewed scene. The robustness and feasibility of our algorithms have been demonstrated through real world expreiments in indoor environments using an indoor mobile robot, KASIRI-II (KAist SImple Roving Intelligence).
Publisher
대한전자공학회
Issue Date
1996-12
Language
Korean
Citation

전자공학회지, v.23, no.12, pp.115 - 125

ISSN
1975-2377
URI
http://hdl.handle.net/10203/22364
Appears in Collection
EE-Journal Papers(저널논문)
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