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A Closed Form 3D Self-Positioning algorithm for a mobile robot using vision and guide-marks

Published online by Cambridge University Press:  09 March 2009

Zeungnam Bien ,
Ho Yeol Kwon ,
Jeongnam Youn  and
Il Hong Suh
Zeungnam Bien
Affiliation:
Department of Electrical Engineering, KAIST, P.O. Box 150, Cheongryangni, Seoul 130-650, (Korea).
Ho Yeol Kwon
Affiliation:
Department of Electrical Engineering, KAIST, P.O. Box 150, Cheongryangni, Seoul 130-650, (Korea).
Jeongnam Youn
Affiliation:
Department of Electrical Engineering, KAIST, P.O. Box 150, Cheongryangni, Seoul 130-650, (Korea).
Il Hong Suh
Affiliation:
Department of Electronic Engineering, Hanyang University, Seoul, (Korea)
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Summary

In this paper, the 3D self-positioning problem of a mobile robot is investigated under the assumption that there are given a set of guide points along with camera vision as the detection mechanism. The minimal number of guide points is discussed to determine the position and orientation of a mobile robot via a single or multiple camera system. For practical application, a closed form 3D self-positioning algorithm is proposed using a stereo camera system with triple guide points. It is further shown that a double triangular pattern is an effective guide-mark that is robust against measurement noise in feature extraction. Then, by simulation, the sensitivity of positioning errors due to image errors are analyzed. It is experimentally shown that the proposed method with triple guide points works well for a walking robot equipped with a stereo camera in laboratory environment.

Keywords

Mobile robotSelf-PositioningNavigationVision.
Type
Article
Information
Robotica , Volume 9 , Issue 3 , July 1991 , pp. 265 - 274
Copyright
Copyright © Cambridge University Press 1991

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