Localization of Mobile Robots Using Odometry and an External Vision Sensor

Sensors

Daniel Pizarro¹  Manuel Mazo²  Enrique Santiso²  Marta Marron²  David Jimenez²  Santiago Cobreces² 

[1] Department of Electronics, University of Alcala, NII km 33,600, Alcala de Henares, Spain;

关键词: robotics;    vision sensor;    intelligent spaces;   

DOI  :  10.3390/s100403655

来源: mdpi

【 摘 要 】

This paper presents a sensor system for robot localization based on the information obtained from a single camera attached in a fixed place external to the robot. Our approach firstly obtains the 3D geometrical model of the robot based on the projection of its natural appearance in the camera while the robot performs an initialization trajectory. This paper proposes a structure-from-motion solution that uses the odometry sensors inside the robot as a metric reference. Secondly, an online localization method based on a sequential Bayesian inference is proposed, which uses the geometrical model of the robot as a link between image measurements and pose estimation. The online approach is resistant to hard occlusions and the experimental setup proposed in this paper shows its effectiveness in real situations. The proposed approach has many applications in both the industrial and service robot fields.

【 授权许可】

CC BY   
© 2010 by the authors; licensee Molecular Diversity Preservation International, Basel, Switzerland.