Localization of Mobile Robots Using Odometry and an External Vision Sensor
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...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2010-04-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/10/4/3655/ |
| _version_ | 1811184092037775360 |
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| author | Daniel Pizarro Manuel Mazo Enrique Santiso Marta Marron David Jimenez Santiago Cobreces Cristina Losada |
| author_facet | Daniel Pizarro Manuel Mazo Enrique Santiso Marta Marron David Jimenez Santiago Cobreces Cristina Losada |
| author_sort | Daniel Pizarro |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T13:07:14Z |
| format | Article |
| id | doaj.art-9bd0e05ac90c43f384c477ec3c82fe19 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T13:07:14Z |
| publishDate | 2010-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-9bd0e05ac90c43f384c477ec3c82fe192022-12-22T04:22:41ZengMDPI AGSensors1424-82202010-04-011043655368010.3390/s100403655Localization of Mobile Robots Using Odometry and an External Vision SensorDaniel PizarroManuel MazoEnrique SantisoMarta MarronDavid JimenezSantiago CobrecesCristina LosadaThis 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.http://www.mdpi.com/1424-8220/10/4/3655/roboticsvision sensorintelligent spaces |
| spellingShingle | Daniel Pizarro Manuel Mazo Enrique Santiso Marta Marron David Jimenez Santiago Cobreces Cristina Losada Localization of Mobile Robots Using Odometry and an External Vision Sensor Sensors robotics vision sensor intelligent spaces |
| title | Localization of Mobile Robots Using Odometry and an External Vision Sensor |
| title_full | Localization of Mobile Robots Using Odometry and an External Vision Sensor |
| title_fullStr | Localization of Mobile Robots Using Odometry and an External Vision Sensor |
| title_full_unstemmed | Localization of Mobile Robots Using Odometry and an External Vision Sensor |
| title_short | Localization of Mobile Robots Using Odometry and an External Vision Sensor |
| title_sort | localization of mobile robots using odometry and an external vision sensor |
| topic | robotics vision sensor intelligent spaces |
| url | http://www.mdpi.com/1424-8220/10/4/3655/ |
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