Dual-circle self-localization algorithm for omnidirectional vision robots

機構典藏 > College of Engineering > Graduate Institute & Department of Electrical Engineering > Journal Article > Item 987654321/42049

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Title:	Dual-circle self-localization algorithm for omnidirectional vision robots
Authors:	許陳鑑;Hsu, Chen-chien;翁慶昌;Wong, Ching-chang;Teng, Hung-chih
Contributors:	淡江大學電機工程學系
Keywords:	Omnidirectional image;autonomous robot;self - localization
Date:	2008-07
Issue Date:	2010-08-10 11:00:12 (UTC+8)
Publisher:	哈爾濱：哈爾濱工業大學
Abstract:	This paper proposes a new self-localization algorithm, called dual-circle self- localization algorithm, for use in omnidirectional vision robots. When an autonomous robot navigates in the field, it senses the environment by an omnidirectional vision device fitted on the robot. The landmarks information is acquired by using image processing and pattern recognition techniques. Robot position on the field can be estimated with the proposed method by using these landmarks information. Comparing with other self - localization methods, the dual- circle self -localization algorithm requires only three landmarks information in the image for identifying the robot position, which is very efficient for image processing. Practical experiments on an autonomous robot have demonstrated that the proposed algorithm can achieve a satisfactory performance to locate the robot.
Relation:	Journal of Harbin Institute of Technology 15 Suppl.2, pp.92-95
Appears in Collections:	[Graduate Institute & Department of Electrical Engineering] Journal Article

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