Title :
Mobile robot position determination using visual landmarks
Author :
D´Orazio, T. ; Lovergine, F.P. ; Ianigro, M. ; Stella, E. ; Distante, A.
Author_Institution :
Inst. of Signal & Image Process., Nat. Res. Council, Bari, Italy
fDate :
12/1/1994 12:00:00 AM
Abstract :
This paper is concerned with the problem of determining the position of a mobile vehicle during navigation. In order to achieve this objective a multisensor navigation system for self location of the robot has been developed. By tracking a few known landmarks with a vision module, the system is able to monitor continuously its position and to integrate these estimates with the measures provided by the vehicle odometers. This paper describes in detail the vision module used by the navigation system
Keywords :
computerised instrumentation; computerised navigation; image recognition; mobile robots; position control; position measurement; robot vision; mobile robot position determination; multisensor navigation system; vehicle odometers; vision module; visual landmarks; Cameras; Infrared sensors; Layout; Mobile robots; Monitoring; Navigation; Position measurement; Robot sensing systems; Robot vision systems; Vehicles;
Journal_Title :
Industrial Electronics, IEEE Transactions on
