An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System

Sensors

Mariana. Rampinelli²  Vitor Buback. Covre¹  Felippe Mendon๺. de Queiroz¹  Raquel Frizera. Vassallo¹  Teodiano Freire. Bastos-Filho¹ 

[1] Department of Electrical Engineering, Federal University of Espirito Santo (UFES), Av. Fernando Ferrari, s/n, 29075-910, Vitoria, Espirito Santo, Brazil;E-Mails:;Department of Electro-Mechanics, Federal Institute of Education, Science and Technology of Espirito Santo (IFES), Estrada da Tartaruga, s/n, 29215-090, Guarapari, Espirito Santo, Brazil

关键词: intelligent space;    multi-camera network;    mobile robot localization;   

DOI  :  10.3390/s140815039

来源: mdpi

【 摘 要 】

This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization.

【 授权许可】

CC BY   
© 2014 by the authors; licensee MDPI, Basel, Switzerland.