tailieunhanh - Robot Localization and Map Building Part 10

Tham khảo tài liệu 'robot localization and map building part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 16 Vision based Systems for Localization in Service Robots Paulraj . and Hema . Mechatronic Program School of Mechatronic Engineering Universiti Malaysia Perlis Malaysia 1. Introduction Localization is one of the fundamental problems of service robots. The knowledge about its position allows the robot to efficiently perform a service task in office at a facility or at home. In the past variety of approaches for mobile robot localization has been developed. These techniques mainly differ in ascertaining the robot s current position and according to the type of sensor that is used for localization. Compared to proximity sensors used in a variety of successful robot systems digital cameras have several desirable properties. They are low-cost sensors that provide a huge amount of information and they are passive so that vision-based navigation systems do not suffer from the interferences often observed when using active sound or light based proximity sensors. Moreover if robots are deployed in populated environments it makes sense to base the perceptional skills used for localization on vision like humans do. In recent years there has been an increased interest in visual based systems for localization and it is accepted as being more robust and reliable than other sensor based localization systems. The computations involved in vision-based localization can be divided into the following four steps Borenstein et al 1996 i Acquire sensory information For vision-based navigation this means acquiring and digitizing camera images. ii Detect landmarks Usually this means extracting edges smoothing filtering and segmenting regions on the basis of differences in gray levels colour depth or motion. iii Establish matches between observation and expectation In this step the system tries to identify the observed landmarks by searching in the database for possible matches according to some measurement criteria. iv Calculate position Once a match or a set of matches is obtained

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