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Conference Paper 이동 로봇을 위한 사각형 기반 위치 추정의 기하학적 방법
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Authors
이주행, 이재연, 이아현, 김재홍
Issue Date
2015-05
Citation
한국 로봇 종합 학술 대회 2015, pp.1-2
Language
Korean
Type
Conference Paper
Project Code
15PC5100, Development of Modular Manipulation System Capable of Self-Reconfiguration of Control and Recognition System for Expansion of Robot Applicability, Kim Jae Hong
Abstract
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 Keywords
Camera Calibration, Efficient computation, Geometric interpretation, Localization method, Mobile robots, Pinhole camera model, Relative Localization, Relative coordinates, Simulation Environment, Single image, analytic solution