Mobile Robot Self-Localization System Using Single Webcam Distance Measurement Technology in Indoor Environments

淡江大學機構典藏 > 工學院 > 機械與機電工程學系暨研究所 > 期刊論文 > Item 987654321/115959

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题名:	Mobile Robot Self-Localization System Using Single Webcam Distance Measurement Technology in Indoor Environments
作者:	Li, I.H.;Wang, W.Y.;Chen, M.C.;Su, S.F.;Lai, T.W.
关键词:	indoor robot localization;image-based distance measurement system;parallel lines distance measurement system
日期:	2014-01-27
上传时间:	2019-03-14 12:10:18 (UTC+8)
出版者:	MDPI
摘要:	A single-webcam distance measurement technique for indoor robot localization is proposed in this paper. The proposed localization technique uses webcams that are available in an existing surveillance environment. The developed image-based distance measurement system (IBDMS) and parallel lines distance measurement system (PLDMS) have two merits. Firstly, only one webcam is required for estimating the distance. Secondly, the set-up of IBDMS and PLDMS is easy, which only one known-dimension rectangle pattern is needed, i.e., a ground tile. Some common and simple image processing techniques, i.e., background subtraction are used to capture the robot in real time. Thus, for the purposes of indoor robot localization, the proposed method does not need to use expensive high-resolution webcams and complicated pattern recognition methods but just few simple estimating formulas. From the experimental results, the proposed robot localization method is reliable and effective in an indoor environment.
關聯:	Sensors 14(2), p.2089-2109
DOI:	10.3390/s140202089
显示于类别:	[機械與機電工程學系暨研究所] 期刊論文

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