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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Taeseok Jin Soomin Park JangMyung Lee |
| Copyright Year | 2003 |
| Description | Author affiliation: Dept. of Electron. Eng., Pusan Nat. Univ., South Korea (Taeseok Jin; Soomin Park; JangMyung Lee) |
| Abstract | Position estimation is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the absolute position of the mobile robot by using a fixed camera on the ceiling in the corridor is proposed. And also, it can improve the success rate for position estimation using the proposed method, which calculates the real size of an object. This scheme is not a relative localization, which decreases the position error through algorithms with noisy sensor data, but a kind of absolute localization. The effectiveness of the proposed localization scheme is demonstrated through the experiments. |
| Sponsorship | IEEE Robotics & Automation Soc |
| Starting Page | 636 |
| Ending Page | 640 |
| File Size | 280580 |
| Page Count | 5 |
| File Format | |
| ISBN | 0780378660 |
| DOI | 10.1109/CIRA.2003.1222255 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2003-07-16 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Mobile robots Navigation Indoor environments Robot vision systems Cameras Robot sensing systems Charge-coupled image sensors Charge coupled devices Gyroscopes Error correction |
| Content Type | Text |
| Resource Type | Article |
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