Vision‐based trajectory tracking for mobile robots using Mirage pose estimation method
| Autor: | Farbod Fahimi, Semih Dinc, Ramazan S. Aygun |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Telerobotics Computer science business.industry Mobile robot 02 engineering and technology Image plane 020901 industrial engineering & automation Video tracking 0202 electrical engineering electronic engineering information engineering Trajectory Robot 020201 artificial intelligence & image processing Computer vision Computer Vision and Pattern Recognition Artificial intelligence Motion planning business Pose Software |
| Zdroj: | IET Computer Vision. 10:450-458 |
| ISSN: | 1751-9640 |
| Popis: | Unmanned vehicles are autonomous robotic systems that are fully or partially controlled by an operator remotely from a station. In the last two decades, massive amount of advancements have been observed regarding unmanned vehicles for both military and civilian purposes. Today majority of these vehicles require human guidance even for basic missions, thus, minimising the human intervention on such systems is one of the emerging research topics. To serve this purpose, this study proposes a new trajectory tracking algorithm using Mirage pose estimation method. Mirage employs target pixel errors in two-dimensional image plane and analytically calculates the robot's pose in three-dimensional Euclidean space. Therefore, complex computations are not needed and undesirable Euclidean trajectories are avoided since the vehicle's pose is directly controlled. Both simulations and real experiments were performed to verify the effectiveness of the method. The results show that the proposed method is a feasible alternative for vision-based Euclidean trajectory tracking with high accuracy and low complexity. |
| Databáze: | OpenAIRE |
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