Ceiling-Based Visual Positioning for an Indoor Mobile Robot With Monocular Vision

	Ceiling-Based Visual Positioning for an Indoor Mobile Robot With Monocular Vision
	Xu, De1 ; Han, Liwei 1; Tan, Min1 ; Li, You Fu 2
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2009-05-01
卷号	56 期号:5 页码:1617-1628
文章类型	Article
摘要	A regular ceiling is common in many offices. The plentiful parallels and corner points on the ceiling can serve as features for visual positioning for an indoor mobile robot. Based on the natural features on the ceiling, a new visual positioning method is proposed. A camera is mounted on the top of the mobile robot and pointed to the ceiling. At the beginning of visual positioning, the initial orientation and position of the mobile robot in the world frame is estimated with a specified block on the ceiling via perspective-n-point-based positioning method. With the motions of the mobile robot, its global orientation is calculated from the main and secondary lines feature when the ceiling has parallels. In other cases, its global orientation is estimated with point features on the ceiling. Then, its position is recursively computed with the point features. The error analysis and experiments verify the effectiveness of the proposed method.
关键词	Ceiling Feature Extraction Indoor Mobile Robot Localization Self-calibration Visual Positioning
WOS标题词	Science & Technology ; Technology
关键词[WOS]	GLOBAL VISION ; SYSTEM ; LOCALIZATION ; IMAGE ; ROBUST
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000265886700030
引用统计	被引频次：84[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/3431
专题	复杂系统认知与决策实验室_先进机器人
作者单位	1.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China 2.City Univ Hong Kong, Dept Mfg Engn & Engn Management, Kowloon, Hong Kong, Peoples R China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Xu, De,Han, Liwei,Tan, Min,et al. Ceiling-Based Visual Positioning for an Indoor Mobile Robot With Monocular Vision[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2009,56(5):1617-1628.
APA	Xu, De,Han, Liwei,Tan, Min,&Li, You Fu.(2009).Ceiling-Based Visual Positioning for an Indoor Mobile Robot With Monocular Vision.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,56(5),1617-1628.
MLA	Xu, De,et al."Ceiling-Based Visual Positioning for an Indoor Mobile Robot With Monocular Vision".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 56.5(2009):1617-1628.