A single camera 360‐degree real time vision‐based localization method with application to mobile robot trajectory tracking
| Autor: | Farbod Fahimi, Ramazan S. Aygun, Khomsun Singhirunnusorn |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Degree (graph theory)
Computer Networks and Communications business.industry Computer science Mobile robot QA75.5-76.95 Tracking (particle physics) Human-Computer Interaction Single camera Computational Theory and Mathematics Artificial Intelligence Hardware and Architecture Electronic computers. Computer science Trajectory Q300-390 Computer vision Artificial intelligence business Real time vision Cybernetics Information Systems |
| Zdroj: | IET Cyber-systems and Robotics, Vol 3, Iss 3, Pp 185-198 (2021) |
| ISSN: | 2631-6315 |
| Popis: | A method is proposed for real‐time vision‐based localization in the 360° area around a three‐dimensional (3D) reference object with a single camera. The problem is split into three subproblems. First, 360° 3D object recognition is proposed, in which a computer vision solution can recognize a reference object from all possible 360° locations. Second, 360° pose estimation is presented, in which the pose of a robot at all locations is estimated. Third, a 360° localization application is integrated with a closed‐loop real‐time trajectory tracking controller. The successful results of simulations and real experiments of trajectory tracking are also presented. |
| Databáze: | OpenAIRE |
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