지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering 한국정밀공학회지 Vol.28 No.3
- 발행연도
- 2011.3
- 수록면
- 330 - 338 (9page)
이용수
초록· 키워드
오류제보하기
Odometry is the critical factor to estimate the location of the robot. In the mobile robot with wheels, odometry can be performed using the information from the encoder. However, the information of location in the encoder is inaccurate because of the errors caused by the wheel's alignment or slip. In general, visual odometer has been used to compensate for the kinetic errors of robot. In case of using the visual odometry under some robot system, the kinetic analysis is required for compensation of errors, which means that the conventional visual odometry cannot be easily applied to the implementation of the other type of the robot system. In this paper, the novel visual odometry, which employs only the single camera toward the ground, is proposed. The camera is mounted at the center of the bottom of the mobile robot. Feature points of the ground image are extracted by using median filter and color contrast filter. In addition, the linear and angular vectors of the mobile robot are calculated with feature points matching, and the visual odometry is performed by using these linear and angular vectors. The proposed odometry is verified through the experimental results of driving tests using the encoder and the new visual odomtry.
목차
1. 서론
2. 관련연구
3. 영상시스템
4. 영상처리 알고리즘
5. 실험
6. 결론
후기
참고문헌
참고문헌 (19)
참고문헌 신청
Clark, S. / 2001 / A Solution to Simultaneous Localizationand Map Building(SLAM)Problem / IEEETransaction of Robotics and Automation 17(3):229~241
Doh, N / 2003 / AccurateRelative Localization using Odometry / International Conference on Robotics and Automation :1602~1612
Borenstein, J / 1994 / Internal Correction of DeadreckoningErrors with the Smart Encoder Trailer / International Conference on Intelligent Robots andSystems :127~134
Corke, P. / 2004 / Omnidirectional Visual Odometry for a PlanetaryRover / Proc. of IROS
Campbell, J. / 2004 / Techniques for Evaluating Optical Flow for VisualOdometry in Extreme Terrain / International Conference on Intelligent Robots and Systems :3704~3711
Doh, N / 2003 / AccurateRelative Localization using Odometry / International Conference on Robotics and Automation :1602~1612
Borenstein, J / 1994 / Internal Correction of DeadreckoningErrors with the Smart Encoder Trailer / International Conference on Intelligent Robots andSystems :127~134
Corke, P. / 2004 / Omnidirectional Visual Odometry for a PlanetaryRover / Proc. of IROS
Campbell, J. / 2004 / Techniques for Evaluating Optical Flow for VisualOdometry in Extreme Terrain / International Conference on Intelligent Robots and Systems :3704~3711
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UCI(KEPA) : I410-ECN-0101-2012-555-004356991