NDLI: Wide-range trajectory measurement using CCD camera for small mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Emura, T. Arakawa, A. Kaneko, T.
Copyright Year	1995
Description	Author affiliation: Tohoku Univ., Sendai, Japan (Emura, T.; Arakawa, A.; Kaneko, T.)
Abstract	This paper describes a new trajectory measurement system for small mobile robots. Wheeled robots such as automatically guided vehicles generally use the dead reckoning method to move to a desired position. In order to improve on the dead reckoning method, a trajectory measurement device which can measure the positional and directional errors with high accuracy is required. The authors made a measurement system using a CCD camera which tracks the vehicle automatically. In this paper, after briefly describing the outline of this measurement system, a calibration method to reduce the measurement error in wide measurement area and a tracking method which enables the system to track the vehicle moving at high speed without losing its image are proposed. Some experiments to measure the actual path of a small vehicle were carried out and it was confirmed that the measurement system has enough capability of detecting the trajectory error.
Starting Page	655
Ending Page	660
File Size	503891
Page Count	6
File Format	PDF
ISBN	0780325591
DOI	10.1109/ICSMC.1995.537838
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-10-22
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Charge coupled devices Charge-coupled image sensors Vehicles Mobile robots Dead reckoning Position measurement Area measurement Velocity measurement Robot vision systems Cameras
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Mobile robot localization using color signboard

Dynamic path planning of mobile robot mounted range sensors and single CCD camera

Environment recognition for a mobile robot using double ultrasonic sensors and a CCD camera

Semi-autonomous control of a wheeled mobile service robot using a rate gyro and a CCD camera

Self-Localization of Mobile Robots Based on Visual Information

2-dimenional localization based on tilt photographing of a single CCD camera

Dead reckoning and cartography using stereo vision for an autonomous car

Localization of service mobile robot using ID tag

A combination of monocular CCD camera and inertial-sensor for range estimation

Wide-range trajectory measurement using CCD camera for small mobile robots

Similar Documents

Mobile robot localization using color signboard

Dynamic path planning of mobile robot mounted range sensors and single CCD camera

Environment recognition for a mobile robot using double ultrasonic sensors and a CCD camera

Semi-autonomous control of a wheeled mobile service robot using a rate gyro and a CCD camera

Self-Localization of Mobile Robots Based on Visual Information

2-dimenional localization based on tilt photographing of a single CCD camera

Dead reckoning and cartography using stereo vision for an autonomous car

Localization of service mobile robot using ID tag

A combination of monocular CCD camera and inertial-sensor for range estimation

Wide-range trajectory measurement using CCD camera for small mobile robots