Mobile Robot Self-Localization System Using Single Webcam Distance Measurement Technology in Indoor Environments
學年 102
學期 1
出版（發表）日期 2014-01-27
作品名稱 Mobile Robot Self-Localization System Using Single Webcam Distance Measurement Technology in Indoor Environments
作品名稱（其他語言）
著者 I.H. Li; W.Y. Wang; M.C. Chen; S.F. Su; T.W. Lai
單位
出版者
著錄名稱、卷期、頁數 Sensors 14(2), p.2089-2109
摘要 A single-webcam distance measurement technique for indoor robot localization is proposed in this paper. The proposed localization technique uses webcams that are available in an existing surveillance environment. The developed image-based distance measurement system (IBDMS) and parallel lines distance measurement system (PLDMS) have two merits. Firstly, only one webcam is required for estimating the distance. Secondly, the set-up of IBDMS and PLDMS is easy, which only one known-dimension rectangle pattern is needed, i.e., a ground tile. Some common and simple image processing techniques, i.e., background subtraction are used to capture the robot in real time. Thus, for the purposes of indoor robot localization, the proposed method does not need to use expensive high-resolution webcams and complicated pattern recognition methods but just few simple estimating formulas. From the experimental results, the proposed robot localization method is reliable and effective in an indoor environment.
關鍵字 indoor robot localization;image-based distance measurement system;parallel lines distance measurement system
語言 en
ISSN
期刊性質 國外
收錄於 SCI
產學合作
通訊作者
審稿制度 是
國別 CHE
公開徵稿
出版型式 ,電子版
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