A Vision-Based Odometer for Localization of Omnidirectional Indoor Robots
In this paper we tackle the problem of indoor robot localization by using a vision-based approach. Specifically, we propose a visual odometer able to give back the relative pose of an omnidirectional automatic guided vehicle (AGV) that moves inside an indoor industrial environment. A monocular downw...
| Main Authors: | , , , , , |
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| Format: | Article |
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MDPI AG
2020-02-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/3/875 |
| _version_ | 1798038956317605888 |
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| author | Cosimo Patruno Roberto Colella Massimiliano Nitti Vito Renò Nicola Mosca Ettore Stella |
| author_facet | Cosimo Patruno Roberto Colella Massimiliano Nitti Vito Renò Nicola Mosca Ettore Stella |
| author_sort | Cosimo Patruno |
| collection | DOAJ |
| description | In this paper we tackle the problem of indoor robot localization by using a vision-based approach. Specifically, we propose a visual odometer able to give back the relative pose of an omnidirectional automatic guided vehicle (AGV) that moves inside an indoor industrial environment. A monocular downward-looking camera having the optical axis nearly perpendicular to the ground floor, is used for collecting floor images. After a preliminary analysis of images aimed at detecting robust point features (keypoints) takes place, specific descriptors associated to the keypoints enable to match the detected points to their consecutive frames. A robust correspondence feature filter based on statistical and geometrical information is devised for rejecting those incorrect matchings, thus delivering better pose estimations. A camera pose compensation is further introduced for ensuring better positioning accuracy. The effectiveness of proposed methodology has been proven through several experiments, in laboratory as well as in an industrial setting. Both quantitative and qualitative evaluations have been made. Outcomes have shown that the method provides a final positioning percentage error of 0.21% on an average distance of 17.2 m. A longer run in an industrial context has provided comparable results (a percentage error of 0.94% after about 80 m). The average relative positioning error is about 3%, which is still in good agreement with current state of the art. |
| first_indexed | 2024-04-11T21:47:20Z |
| format | Article |
| id | doaj.art-05fb3820de894d64af7d7d4d804ea31b |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T21:47:20Z |
| publishDate | 2020-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-05fb3820de894d64af7d7d4d804ea31b2022-12-22T04:01:23ZengMDPI AGSensors1424-82202020-02-0120387510.3390/s20030875s20030875A Vision-Based Odometer for Localization of Omnidirectional Indoor RobotsCosimo Patruno0Roberto Colella1Massimiliano Nitti2Vito Renò3Nicola Mosca4Ettore Stella5Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Italian National Research Council, STIIMA-CNR, G. Amendola 122 D/O, 70126 Bari, ItalyInstitute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Italian National Research Council, STIIMA-CNR, G. Amendola 122 D/O, 70126 Bari, ItalyInstitute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Italian National Research Council, STIIMA-CNR, G. Amendola 122 D/O, 70126 Bari, ItalyInstitute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Italian National Research Council, STIIMA-CNR, G. Amendola 122 D/O, 70126 Bari, ItalyInstitute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Italian National Research Council, STIIMA-CNR, G. Amendola 122 D/O, 70126 Bari, ItalyInstitute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Italian National Research Council, STIIMA-CNR, G. Amendola 122 D/O, 70126 Bari, ItalyIn this paper we tackle the problem of indoor robot localization by using a vision-based approach. Specifically, we propose a visual odometer able to give back the relative pose of an omnidirectional automatic guided vehicle (AGV) that moves inside an indoor industrial environment. A monocular downward-looking camera having the optical axis nearly perpendicular to the ground floor, is used for collecting floor images. After a preliminary analysis of images aimed at detecting robust point features (keypoints) takes place, specific descriptors associated to the keypoints enable to match the detected points to their consecutive frames. A robust correspondence feature filter based on statistical and geometrical information is devised for rejecting those incorrect matchings, thus delivering better pose estimations. A camera pose compensation is further introduced for ensuring better positioning accuracy. The effectiveness of proposed methodology has been proven through several experiments, in laboratory as well as in an industrial setting. Both quantitative and qualitative evaluations have been made. Outcomes have shown that the method provides a final positioning percentage error of 0.21% on an average distance of 17.2 m. A longer run in an industrial context has provided comparable results (a percentage error of 0.94% after about 80 m). The average relative positioning error is about 3%, which is still in good agreement with current state of the art.https://www.mdpi.com/1424-8220/20/3/875visual odometryvision-based odometeraffine pose estimationcomputer visionsurfmonocular camerafeature-based approach |
| spellingShingle | Cosimo Patruno Roberto Colella Massimiliano Nitti Vito Renò Nicola Mosca Ettore Stella A Vision-Based Odometer for Localization of Omnidirectional Indoor Robots Sensors visual odometry vision-based odometer affine pose estimation computer vision surf monocular camera feature-based approach |
| title | A Vision-Based Odometer for Localization of Omnidirectional Indoor Robots |
| title_full | A Vision-Based Odometer for Localization of Omnidirectional Indoor Robots |
| title_fullStr | A Vision-Based Odometer for Localization of Omnidirectional Indoor Robots |
| title_full_unstemmed | A Vision-Based Odometer for Localization of Omnidirectional Indoor Robots |
| title_short | A Vision-Based Odometer for Localization of Omnidirectional Indoor Robots |
| title_sort | vision based odometer for localization of omnidirectional indoor robots |
| topic | visual odometry vision-based odometer affine pose estimation computer vision surf monocular camera feature-based approach |
| url | https://www.mdpi.com/1424-8220/20/3/875 |
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