کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413152 679760 2007 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
High resolution relative localisation using two cameras
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
High resolution relative localisation using two cameras
چکیده انگلیسی

Wheel odometry is a common method for high resolution relative localisation. However, wheel odometry relies on the integrity and accuracy of a kinematic model. In this paper, a new method for relative localisation, ‘visiodometry’, which does not rely on a kinematic model, is proposed. The system consists of two ground-facing cameras mounted on either side of the robot. From the sequence of images acquired, the relative change in pose of the robot is estimated using a phase correlation based method. Results on a plain coloured carpeted surface, show that the method provides a truly odometric type sensor data input similar in modality and resolution to wheel odometry. A method to calibrate the visiodometry system using a 1D object is also presented.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 55, Issue 9, 30 September 2007, Pages 685–692
نویسندگان
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