| Autor: |
Khomsun Singhirunnusorn, Farbod Fahimi, Ramazan Aygun |
| Jazyk: |
angličtina |
| Rok vydání: |
2021 |
| Předmět: |
|
| Zdroj: |
IET Cyber-systems and Robotics, Vol 3, Iss 3, Pp 185-198 (2021) |
| Druh dokumentu: |
article |
| ISSN: |
2631-6315 |
| DOI: |
10.1049/csy2.12021 |
| Popis: |
Abstract 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: |
Directory of Open Access Journals |
| Externí odkaz: |
|
Plný text