The localization based on vision and compass data fusion for a mobile robot

CASIA OpenIR > 09年以前成果

	The localization based on vision and compass data fusion for a mobile robot
	Zhang, LJ; Chen, XJ; Hou, ZG; Tan, M
发表期刊	DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS-SERIES B-APPLICATIONS & ALGORITHMS
	2005
卷号	1 页码:151-156
文章类型	Article
摘要	This paper presents a localization algorithm for a mobile robot based on vision and compass data fusion. Although the vision localization based on the polynomial fitting method for a mobile robot is convenient and robust, it requires the image coordinate system to be unchanged relative to the world coordinate system, which is difficult to be satisfied in applications. In order to solve this problem, a compass sensor is introduced into the mobile robot system. By fusing the vision and compass data, a localization algorithm based on the polynomial fitting method is put forward. In addition, experimental studies of the localization algorithm for a mobile robot, CASIA-1, are provided. The experimental results show that the vision localization accuracy is greatly improved with the fusion of compass and CCD data.
WOS标题词	Science & Technology ; Physical Sciences
关键词[WOS]	NAVIGATION
收录类别	ISTP ; SCI
语种	英语
WOS研究方向	Mathematics
WOS类目	Mathematics, Applied
WOS记录号	WOS:000231716400029
引用统计	被引频次：2[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/173211/9174
专题	09年以前成果复杂系统管理与控制国家重点实验室
作者单位	Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Zhang, LJ,Chen, XJ,Hou, ZG,et al. The localization based on vision and compass data fusion for a mobile robot[J]. DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS-SERIES B-APPLICATIONS & ALGORITHMS,2005,1:151-156.
APA	Zhang, LJ,Chen, XJ,Hou, ZG,&Tan, M.(2005).The localization based on vision and compass data fusion for a mobile robot.DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS-SERIES B-APPLICATIONS & ALGORITHMS,1,151-156.
MLA	Zhang, LJ,et al."The localization based on vision and compass data fusion for a mobile robot".DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS-SERIES B-APPLICATIONS & ALGORITHMS 1(2005):151-156.