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학술대회 이동 로봇을 위한 사각형 기반 위치 추정의 기하학적 방법
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이주행, 이재연, 이아현, 김재홍
한국 로봇 종합 학술 대회 2015, pp.1-2
15PC5100, 로봇 적용 범위 확장을 위해 3종의 조인트 모듈, 최대 7자유도의 기구부 조합에 따른 제어, 인지 시스템의 자동 구성이 가능한 모듈라 매니퓰레이션 기술 개발, 김재홍
A rectangle-based relative localization method is proposed for a mobile robot based on a novel geometric formulation. In an artificial environment where a mobile robot navigates, rectangular shapes are ubiquitous. When a scene rectangle is captured using a camera attached to a mobile robot, localization can be performed and described in the relative coordinates of the scene rectangle. Especially, our method works with a single image for a scene rectangle whose aspect ratio is not known. Moreover, a camera calibration is unnecessary with an assumption of the pinhole camera model. The proposed method is largely based on the theory of coupled line cameras (CLC), which provides a basis for efficient computation with analytic solutions and intuitive geometric interpretation. We introduce the fundamentals of CLC and describe the proposed method with some experimental results in simulation environment.
KSP 제안 키워드
Camera Calibration, Efficient computation, Geometric interpretation, Localization method, Mobile robots, Pinhole camera model, Relative Localization, Relative coordinates, Simulation Environment, Single image, analytic solution