{"title":"Location research of mobile robot with an omni-directional camera","authors":"W. Liang, Zhu Qidan, Liu Zhou","doi":"10.1109/ICIMA.2004.1384277","DOIUrl":null,"url":null,"abstract":"In this paper, we propose a method for the visual-based location of a mobile robot with an omni-directional camera in indoor environment. Omni-directional camera is composed of conventional camera and convex mirror. It has large field of view, which further reduces the number of images necessary to represent a location. The stmctnre, p~operty anti geometry of the omni-directional camera are presented. The principle of trigonometric location is also presented. We use trigonometric location and data derived from omni-directional image processing to realize robot location. Preliminary location experiments with a mobile robot equipped with an omni-directional camera in indoor environment are performed. The result of experiments shows that the proposed method has good performance.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"64 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIMA.2004.1384277","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, we propose a method for the visual-based location of a mobile robot with an omni-directional camera in indoor environment. Omni-directional camera is composed of conventional camera and convex mirror. It has large field of view, which further reduces the number of images necessary to represent a location. The stmctnre, p~operty anti geometry of the omni-directional camera are presented. The principle of trigonometric location is also presented. We use trigonometric location and data derived from omni-directional image processing to realize robot location. Preliminary location experiments with a mobile robot equipped with an omni-directional camera in indoor environment are performed. The result of experiments shows that the proposed method has good performance.
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