Ceiling-Based Visual Positioning for an Indoor Mobile Robot With Monocular Vision
文献类型：期刊论文
| 作者 | Xu, De1 ; Han, Liwei1; Tan, Min1; Li, You Fu2
|
| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
 |
| 出版日期 | 2009-05-01 |
| 卷号 | 56期号:5页码:1617-1628 |
| 关键词 | Ceiling feature extraction indoor mobile robot localization self-calibration visual positioning |
| 英文摘要 | A regular ceiling is common in many offices. The plentiful parallels and corner points on the ceiling can serve as features for visual positioning for an indoor mobile robot. Based on the natural features on the ceiling, a new visual positioning method is proposed. A camera is mounted on the top of the mobile robot and pointed to the ceiling. At the beginning of visual positioning, the initial orientation and position of the mobile robot in the world frame is estimated with a specified block on the ceiling via perspective-n-point-based positioning method. With the motions of the mobile robot, its global orientation is calculated from the main and secondary lines feature when the ceiling has parallels. In other cases, its global orientation is estimated with point features on the ceiling. Then, its position is recursively computed with the point features. The error analysis and experiments verify the effectiveness of the proposed method. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation |
| 研究领域[WOS] | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 关键词[WOS] | GLOBAL VISION ; SYSTEM ; LOCALIZATION ; IMAGE ; ROBUST |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000265886700030 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3431]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China 2.City Univ Hong Kong, Dept Mfg Engn & Engn Management, Kowloon, Hong Kong, Peoples R China |
| 推荐引用方式 GB/T 7714 | Xu, De,Han, Liwei,Tan, Min,et al. Ceiling-Based Visual Positioning for an Indoor Mobile Robot With Monocular Vision[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2009,56(5):1617-1628. |
| APA | Xu, De,Han, Liwei,Tan, Min,&Li, You Fu.(2009).Ceiling-Based Visual Positioning for an Indoor Mobile Robot With Monocular Vision.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,56(5),1617-1628. |
| MLA | Xu, De,et al."Ceiling-Based Visual Positioning for an Indoor Mobile Robot With Monocular Vision".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 56.5(2009):1617-1628. |
入库方式： OAI收割
来源：自动化研究所
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