Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

The Indoor Position Detection Method using a Single Camera and a Parabolic Mirror

볼록 거울 및 단일 카메라를 이용한 실내에서의 전 방향 위치 검출 방법

  • 김지홍 (전북대학교 제어계측공학과) ;
  • 김희선 (전북대학교 제어계측공학과) ;
  • 이창구 (전북대학교 전자정보 공학부)
  • Published : 2008.02.01

Abstract

This article describes the methods of a decision of the location which user points to move by an optical device like a laser pointer and a moving to that location. Using a conic mirror and CCD camera sensor, a robot observes a spot of user wanted point among an initiative, computes the location and azimuth and moves to that position. This system offers the brief data to a processor with simple devices. In these reason, we can reduce the time of a calculation to process of images and find the target by user point for carrying a robot. User points a laser spot on a point to be moved so that this sensor system in the robot, detecting the laser spot point with a conic mirror, laid on the robot, showing a camera. The camera is attached on the robot upper body and fixed parallel to the ground and the conic mirror.

Keywords

File

Download PDF

References

  1. Yasushi Yagi, 'Map-based navigation for a mobile robot with omnidirectional image sensor COPIS,' IEEE Transactions on Robotics and Automation, vol. 11, no. 5, pp. 634-648, OCTOBER 1995 https://doi.org/10.1109/70.466602
  2. Claude Pegard and El Mustapha Mouaddib, 'A mobile roboot using a panoramic view,' IEEE International conference on robotics and automation, pp. 89-94, April, 1996
  3. C.-H. Chao, C.-H. Ho, S.-H. Lin, 'Omni-directional visionbased parallel-parking control design for car-like mobile robot,' IEEE International conference on Mechatronics, pp. 562-567, July 2005
  4. J. S. Chahl and M. V. Srinivasan. 'Reflective surfaces for panoramic imaging,' Applied Optics, 36:8275 285, Nov. 1997 https://doi.org/10.1364/AO.36.008275
  5. N. Ayache and O. Faugeras, 'Maintaining representations of the environment of a mobile robot,' IEEE Transactions on Robotics and Automation, 5(5):804 19, Dec. 1989 https://doi.org/10.1109/70.88101
  6. R. Cassinis, D. Grana, and A. Rizzi. 'Self-localization using an omni-directional image sensor,' In 4th Int. Symp. On Inteligent Robotic Systems, pp. 215, July 1996
  7. A. Bonarini, P. Aliverti, M. Lucioni. 'An omnidirectional sensor for fast tracking for mobile robots,' IEEE International Transaction on Instrument and Measurement, vol. 49, no. 3, pp. 509-512, 2000 https://doi.org/10.1109/19.850385
  8. Y. Matsumoto, M. Inaba, and H. Inoue, 'Visual navigation using view sequenced route representation,' in Proc. IEEE International conference on robotics and automation, pp. 83-88, 1996