Monocular Vision-Based Robot Localization and Target Tracking
This paper presents a vision-based technology for localizing targets in 3D environment. It is achieved by the combination of different types of sensors including optical wheel encoders, an electrical compass, and visual observations with a single camera. Based on the robot motion model and image seq...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2011-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2011/548042 |
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| _version_ | 1850177018733264896 |
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| author | Bing-Fei Wu Wang-Chuan Lu Cheng-Lung Jen |
| author_facet | Bing-Fei Wu Wang-Chuan Lu Cheng-Lung Jen |
| author_sort | Bing-Fei Wu |
| collection | DOAJ |
| description | This paper presents a vision-based technology for localizing targets in 3D environment. It is achieved by the combination of different types of sensors including optical wheel encoders, an electrical compass, and visual observations with a single camera. Based on the robot motion model and image sequences, extended Kalman filter is applied to estimate target locations and the robot pose simultaneously. The proposed localization system is applicable in practice because it is not necessary to have the initializing setting regarding starting the system from artificial landmarks of known size. The technique is especially suitable for navigation and target tracing for an indoor robot and has a high potential extension to surveillance and monitoring for Unmanned Aerial Vehicles with aerial odometry sensors. The experimental results present “cm” level accuracy of the localization of the targets in indoor environment under a high-speed robot movement. |
| format | Article |
| id | doaj-art-afc3b4ed5c8645ff88c16eb366eea387 |
| institution | OA Journals |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-afc3b4ed5c8645ff88c16eb366eea3872025-08-20T02:19:06ZengWileyJournal of Robotics1687-96001687-96192011-01-01201110.1155/2011/548042548042Monocular Vision-Based Robot Localization and Target TrackingBing-Fei Wu0Wang-Chuan Lu1Cheng-Lung Jen2Department of Electrical Engineering, National Chiao Tung University, 1001 University Road, Hsinchu 300, TaiwanDepartment of Electrical Engineering, National Chiao Tung University, 1001 University Road, Hsinchu 300, TaiwanDepartment of Electrical Engineering, National Chiao Tung University, 1001 University Road, Hsinchu 300, TaiwanThis paper presents a vision-based technology for localizing targets in 3D environment. It is achieved by the combination of different types of sensors including optical wheel encoders, an electrical compass, and visual observations with a single camera. Based on the robot motion model and image sequences, extended Kalman filter is applied to estimate target locations and the robot pose simultaneously. The proposed localization system is applicable in practice because it is not necessary to have the initializing setting regarding starting the system from artificial landmarks of known size. The technique is especially suitable for navigation and target tracing for an indoor robot and has a high potential extension to surveillance and monitoring for Unmanned Aerial Vehicles with aerial odometry sensors. The experimental results present “cm” level accuracy of the localization of the targets in indoor environment under a high-speed robot movement.http://dx.doi.org/10.1155/2011/548042 |
| spellingShingle | Bing-Fei Wu Wang-Chuan Lu Cheng-Lung Jen Monocular Vision-Based Robot Localization and Target Tracking Journal of Robotics |
| title | Monocular Vision-Based Robot Localization and Target Tracking |
| title_full | Monocular Vision-Based Robot Localization and Target Tracking |
| title_fullStr | Monocular Vision-Based Robot Localization and Target Tracking |
| title_full_unstemmed | Monocular Vision-Based Robot Localization and Target Tracking |
| title_short | Monocular Vision-Based Robot Localization and Target Tracking |
| title_sort | monocular vision based robot localization and target tracking |
| url | http://dx.doi.org/10.1155/2011/548042 |
| work_keys_str_mv | AT bingfeiwu monocularvisionbasedrobotlocalizationandtargettracking AT wangchuanlu monocularvisionbasedrobotlocalizationandtargettracking AT chenglungjen monocularvisionbasedrobotlocalizationandtargettracking |