To overcome the shortcomings of existing robot localization sensors, such as low accuracy and poor robustness, a high precision visual localization system based on infrared-reflective artificial markers is designed an...
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To overcome the shortcomings of existing robot localization sensors, such as low accuracy and poor robustness, a high precision visual localization system based on infrared-reflective artificial markers is designed and illustrated in detail in this paper. First, the hardware system of the localization sensor is developed. Secondly, we design a novel kind of infrared-reflective artificial marker whose characteristics can be extracted by the acquisition and processing of the infrared image. In addition, a confidence calculation method for marker identification is proposed to obtain the probabilistic localization results. Finally, the autonomous localization of the robot is achieved by calculating the relative pose relation between the robot and the artificial marker based on the perspective-3-point(P3P) visual localization algorithm. Numerous experiments and practical applications show that the designed localization sensor system is immune to the interferences of the illumination and observation angle changes. The precision of the sensor is ±1.94 cm for position localization and ±1.64° for angle localization. Therefore, it satisfies perfectly the requirements of localization precision for an indoor mobile robot.
localization for mobile robots has been vastly researched in recent years. However, most solutions remain dependant on the working environment by either extracting information from or installing additional sensors int...
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ISBN:
(纸本)9781728144610;9781728144603
localization for mobile robots has been vastly researched in recent years. However, most solutions remain dependant on the working environment by either extracting information from or installing additional sensors into the environment. An innovative localization sensor is proposed in this work, aiming at providing pose estimation for ground mobile robots while reducing the dependency of the pose estimation on the working environment. The localization approach works under a collaborative scheme where multiple instances of the sensor take relative distance and angular measurements towards each other in order to estimate their respective pose. A mathematical model is derived for the collaborative pose estimation process and two instances of the proposed sensor are implemented and tested with a stationary and a moving landmark to validate the approach.
Tracking complex human body 3D gestures to realize human-computer interfaces is possible using the proposed localization system. It is composed of a number of low-cost 3D remote position sensors and of a set of beacon...
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ISBN:
(纸本)9781424443895;9781424443901
Tracking complex human body 3D gestures to realize human-computer interfaces is possible using the proposed localization system. It is composed of a number of low-cost 3D remote position sensors and of a set of beacons that emit a sequence of ultra-acoustic pulses in the space region containing the position sensors. When impinged by the acoustic wavefronts, each sensor sends back a signal to a central unit through a suitable transmission channel. The central unit, knowing the positions of the acoustic beacons and the time of arrival of the sensor signals, computes the positions of the sensors, identifying and discarding possible false signals due to echoes and environmental noise. In a first prototype implementation, four coplanar beacons, actually earphones, are placed at the corners of a PC screen, and are forced to emit pulses in the 20 - 40 kHz band. Each sensor is equipped with a wideband miniature microphone, which is wired to an acquisition board. All the computation, including signal filtering, time of arrival detection, localization and results display, is carried out by a notebook PC at 25 Hz.
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