상세정보
학술지
이동 로봇의 상대적 위치 추정을 위한 직사각형 기반의 기하학적 방법
- 발행일
- 201602
- 출처
- 로봇학회논문지, v.11 no.1, pp.9-18
- ISSN
- 1975-6291
- 출판사
- 한국로봇학회(KROS)
- 협약과제
- 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
- 초록
- 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