Visual compensation in localization of a robot on a ceiling map

Matsumoto, T. and Takahashi, T. and Iwahashi, M. and Kimura, T. and Salbiah, S. and Mokhtar, N. (2011) Visual compensation in localization of a robot on a ceiling map. Scientific Research and Essays, 6 (1). pp. 131-135. ISSN 1992-2248,

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In a visual odometry system, location of a mobile robot is automatically estimated (localized) from video. When the video is captured by an "upward" camera fixed to an indoor mobile robot, a panorama image of the ceiling (ceiling map) is generated by using a visual motion between two adjacent frames in the video. Similarly, location of another robot can be estimated on the ceiling map by using a visual motion between the current frame and the previously generated ceiling map. Under the assumption that the robot goes straight or rotates around a fixed point, there is no problem on the localization as far as the floor is flat. However, when there is debris on the floor, the estimated location contains error. In this paper, we reduce this error by utilizing visual motions in video from the "forward" camera fixed to the robot. This is a visual compensation of motions in the "upward" camera's video with those in the "forward" camera's video. It was experimentally confirmed that the maximum absolute value of the error was reduced to approximately 11.

Item Type: Article
Additional Information: 729HO Times Cited:2 Cited References Count:8
Uncontrolled Keywords: visual odometry, localization, robot vision, motion estimation, vision.
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering
Depositing User: Mr Jenal S
Date Deposited: 22 May 2013 00:33
Last Modified: 22 May 2013 00:33

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