Temat: vision localization - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Vision localization system for mobile robot with velocities and acceleration estimator
Autorzy:: Dutkiewicz, P.
Kielczewski, M.
Kozłowski, K.
Pazderski, D.
Powiązania:: https://bibliotekanauki.pl/articles/199936.pdf
Data publikacji:: 2010
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: vision localization system
mobile robot
acceleration estimator
Opis:: The paper presents a localization system for a mobile robot using the vision system and LED markers and considers the problem of velocity and acceleration estimation in the case of planar motions. Theoretical considerations include the principle of measurement and the details of Kalman estimator with illustrations based on experimental setup. The presented measurement system can be used for a realization of advanced control algorithms for skid-steering mobile robots where significant slippage phenomenon appears.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2010, 58, 1; 29-41
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Samolokalizacja bezzałogowego statku powietrznego uwzględniająca zmienną orientację kamery
Self-Localization of the Unmanned Aerial Vehicle Taking Into Account the Variable Orientation of the Camera
Autorzy:: Zielińska, Teresa
Pogorzelski, Tomasz
Powiązania:: https://bibliotekanauki.pl/articles/2174232.pdf
Data publikacji:: 2022
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: lokalizacja wizyjna
orientacja kamery
redundancja GNSS
porównywanie obrazów
vision localization
camera orientation
GNSS redundancy
image comparison
Opis:: W niniejszej publikacji zaproponowano metodę lokalizacji wizyjnej z wykorzystaniem obrazów z symulowanej kamery oraz mapy georeferencyjnej. Model BSP oraz symulacja lotu zostały wykonane w pakiecie MATLAB Simulink, który przesyłał dane dotyczące orientacji BSP do opisywanego programu. Wizualizacja obrazu z kamery została wykonana w czasie rzeczywistym przy pomocy oprogramowania FlightGear, której obraz również był przechwytywany przez program NW. Metoda ta realizowana jest przez dwa procesy w dwu modułach: Global Positioning Component oraz Motion Positioning Component. Pierwszy z nich porównuje obraz z symulowanej kamery z ortofotomapą. Drugi wyznacza pozycję na podstawie oceny przemieszczenia punktów charakterystycznych w obrazie w stosunku do ostatnio znanej lokalizacji. Wynik działania obu modułów ilustrowany jest w oknie graficznym aplikacji NW, co pozwala na wizualne porównanie uzyskanych wyników. W przypadku globalnej metody lokalizacji wymagana jest dodatkowa korekcja orientacji kamery w celu wyznaczenia pozycji w przestrzeni 2D. W tym celu wykorzystano dane dotyczące bieżącej orientacji kamery wyrażone w kwaternionach. Pozwoliło to na wprowadzenie poprawki pozycji, co znacząco poprawiło dokładność wyniku uzyskiwanego w module GPC mimo znacznych przechyleń BSP podczas symulowanego lotu.
This publication proposes a visual localization method using images from a simulated camera and a georeferenced map. The UAV model and flight simulation were made in the MATLAB Simulink package, which sent UAV orientation data to the described program. The visualization of the camera image was performed in real time using the FlightGear software, the image of which was also captured by the NW program. This method is performed by two processes in two modules: Global Positioning Component and Motion Positioning Component. The first one compares the image from the simulated camera with the orthophotomap. The second determines the position based on the assessment of the displacement of characteristic points in the image in relation to the last known location. The result of the operation of both modules is illustrated in the graphic window of the NW application, which allows for a visual comparison of the obtained results. With the global method of location, additional camera orientation correction is required to determine the position in 2D space. For this purpose, data on the current camera orientation expressed in quaternions were used. This allowed for the introduction of a position correction, which significantly improved the accuracy of the result obtained in the GPC module despite significant UAV tilts during the simulated flight.
Źródło:: Pomiary Automatyka Robotyka; 2022, 26, 4; 53--59
1427-9126
Pojawia się w:: Pomiary Automatyka Robotyka
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Topological localization using appearance-based recognition
Autorzy:: Akers, E. L.
Agah, A.
Powiązania:: https://bibliotekanauki.pl/articles/384533.pdf
Data publikacji:: 2010
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: topological localization
mobile robotics
computer vision
appearance-based methods
Opis:: Localization is a fundamental problem of autonomous mobile robots. Localization is the determination of the position and orientation of a robot. Most localization systems are made up of several sensors and a map of the environment. Sophisticated localization systems can solve both the global location problem and the kid-napped robot problem. Global localization is the process of placing the robot into an unknown location within the map, and the robot should be able to locate itself within a relatively short period of time. The kidnapped robot problem is similar to global localization, as it is a test of how well the robot is able to recover after becoming lost. The robot is “teleported” to a new location, and the robot should again be able to determine its new location within a relatively short amount of time. CReSIS (Center for Remote Sensing of Ice Sheets) is developing autonomous robots in an effort to measure ice sheets characteristics in Greenland and Antarctica. These robots currently rely on differential GPS for localization and navigation. In order to survive for long periods of time in these environments, however, the robots need to be able to return to campsites in order to refuel and unload the data that has been acquired. In order to perform this task effectively and safely, a more elaborate system is required. A localization system that can recognize the dfferent locations of the campsites is the beginning of this process. The approach is to use a single camera for use in multiple types of large-scale environments, indoors and outdoors using a topological map. The system described uses an appearance-based approach for recognizing the different locations. The appearance-based methods attempt to recognize the appearance of a scene rather than specific objects. Several different types of features are tested including histograms, eigenimages, and Hu Moments. Using these simple features, the system is able to determine its location within the map at 95% accuracy.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2010, 4, 1; 68-84
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Absolute localization for low capability robots in structured environments using barcode landmarks
Autorzy:: Dias, D.
Ventura, R.
Powiązania:: https://bibliotekanauki.pl/articles/384651.pdf
Data publikacji:: 2013
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: vision based barcode detection
absolute robot localization
low capability robots
homography transformation
Opis:: Research on multi-robot systems often demands the use of a large population of small, cheap, and low capability mobile robots. Many non-trivial behaviors demand these robots to be localized in real-time. This paper addresses the problem of absolute localization of such low capability robots using onboard sensors and local computation. The approach is based on the use of a pair of scan lines perceived by an onboard B&W camera to detect and decode artificial visual landmarks deployed along the environment. Each landmark consists on a dual-layer barcode which can encode its pose with respect to a global coordinate frame. Thus, the robot is not required to store a map of the landmark locations onboard. The method is based on an Extended Kalman Filter (EKF) fusing odometry readings with absolute pose estimates obtained from the camera. Experimental results using an e-puck robot with 8 KB of RAM and a 16 MIPs processor are presented, comparing the location estimates with both ground truth and odometry.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 1; 28-34
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: Vision based persistent localization of a humanoid robot for locomotion tasks
Autorzy:: Martínez, P. A.
Castelán, M.
Arechavaleta, G.
Powiązania:: https://bibliotekanauki.pl/articles/329982.pdf
Data publikacji:: 2016
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: robot localization
monocular vision
humanoid locomotion
lokalizacja robota
wizja jednookularowa
ruch robota
robot humanoidalny
Opis:: Typical monocular localization schemes involve a search for matches between reprojected 3D world points and 2D image features in order to estimate the absolute scale transformation between the camera and the world. Successfully calculating such transformation implies the existence of a good number of 3D points uniformly distributed as reprojected pixels around the image plane. This paper presents a method to control the march of a humanoid robot towards directions that are favorable for visual based localization. To this end, orthogonal diagonalization is performed on the covariance matrices of both sets of 3D world points and their 2D image reprojections. Experiments with the NAO humanoid platform show that our method provides persistence of localization, as the robot tends to walk towards directions that are desirable for successful localization. Additional tests demonstrate how the proposed approach can be incorporated into a control scheme that considers reaching a target position.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2016, 26, 3; 669-682
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Straight-lines modelling using planar information for monocular SLAM
Autorzy:: Santana, A. M.
Medeiros, A. A. D.
Powiązania:: https://bibliotekanauki.pl/articles/331312.pdf
Data publikacji:: 2012
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: SLAM
filtr Kalmana
transformata Hough'a
Simultaneous Localization and Mapping (SLAM)
Kalman filter
Hough transform
monocular vision
Opis:: This work proposes a SLAM (Simultaneous Localization And Mapping) solution based on an Extended Kalman Filter (EKF) in order to enable a robot to navigate along the environment using information from odometry and pre-existing lines on the floor. These lines are recognized by a Hough transform and are mapped into world measurements using a homography matrix. The prediction phase of the EKF is developed using an odometry model of the robot, and the updating makes use of the line parameters in Kalman equations without any intermediate stage for calculating the distance or the position. We show two experiments (indoor and outdoor) dealing with a real robot in order to validate the project.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2012, 22, 2; 409-421
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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