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

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

Position estimation and navigation control of mobile robot using mono vision

단일 카메라를 이용한 이동 로봇의 위치 추정과 주행 제어

  • 이기철 (연세대학교 전자공학과) ;
  • 이성렬 (연세대학교 전자공학과) ;
  • 박민용 (연세대학교 전자공학과) ;
  • 김현태 (현대전자 전장사업부 에어백 제어 개발팀) ;
  • 고재원 (유한대학 제어계측과)
  • Published : 1999.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper suggests a new image analysis method and indoor navigation control algorithm of mobile robots using a mono vision system. In order to reduce the positional uncertainty which is generated as the robot travels around the workspace, we propose a new visual landmark recognition algorithm with 2-D graph world model which describes the workspace as only a rough plane figure. The suggested algorithm is implemented to our mobile robot and experimented in a real corridor using extended Kalman filter. The validity and performance of the proposed algorithm was verified by showing that the trajectory deviation error was maintained under 0.075m and the position estimation error was sustained under 0.05m in the resultant trajectory of the navigation.

Keywords

References

  1. Proc. of IEEE International Conf Robotics and Automation High resolution maps from wide angle sonar H. P. Moravec;A. Elfes
  2. Directed Sonar Sensing for Mobile Robot Navigation J. J. Leonard;F. Hugh;Durrant-Whyte
  3. Proc. of the 2nd IEEE Conf. Control Application Using laser range data to model tunnel curvature for the automatic guidance of a mining vehicle L. Juneau;G. Chevrette
  4. Proc. of IEEE International Conf. Robotics and Automation v.1 The hough transform inside the feedback loop of a mobile robot J. Forsberg;W. Ake
  5. Robotics: Control, Sensing, Vision and Intelligence K. S. Fu;R. C. Gonzalez;C. S. G. Lee
  6. Computer and Robot Vision v.Ⅱ R. M. Haralick;L. G. Shapiro
  7. Autonomous Robot Vehicles : the Stanford Cart and the CMU Rover I. J. Cox;G. T. Wilfong
  8. IEEE Trans. Syst. Man and Cybernetic v.20 no.6 Model-directed mobile robot navigation C. Fennema;A. Hanson(et al.)
  9. IEEE Trans. Robotics and Automation v.5 no.6 Visual Estimation of 3-D line segments from motion-A mobile robot system M. W. William. Ⅲ
  10. IEEE Trans. PAMI v.14 no.2 3-D corridor scene modeling from a single view under natural lighting conditions S. Takeshi
  11. IEEE Trans. PAMI v.14 no.2 The recovery and understanding of a line drawing from indoor scenes M. Straforini;C. Coelho(et al.)
  12. Journal of Computer Vision, Graphics, and Image Processing-Image Understanding v.56 no.3 Fast visionguided mobile robot navigation using modelbased reasoning and prediction of uncertainties A. Kosaka;A. C. Kak
  13. IEEE Trans. Robotics and Automation v.5 no.6 Stereo vision and navigation in buildings for mobile robots J. David;Kreigman(et al.)
  14. International Journal of Robotics Research v.7 no.6 Building, resistrating, and fusing noisy visual rnaps N. Ayache;O. D. Faugeras
  15. IEEE International Conf. Robotics and Automation Real-time map refinement by fusing sonar and active stereo-vision F. Wallner;R. Graf;R. Dillman
  16. Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception A. Nicolas
  17. 한국자동제어학술회의 논문집 Stereo vision을 이용한 이동 로봇의 실내 주행을 위한 environment map의 작성 김성호;김병국
  18. Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception A. Nicolas
  19. Kalman Filtering Theory and Practice M. S. Grewal;A. P. Andrews