Title :
Omni-directional vision for robot navigation in substation environments
Author :
Guo, Rui ; Han, Lei ; Cheng, Xueqi
Author_Institution :
Electr. Power Robotic Lab., State Grid Corp. of China, Jinan, China
Abstract :
This paper presents a new omni-directional vision based navigation system for mobile robots in substation environments for 24h all-weather inspection. It is featured with near infrared illumination, omni-directional imaging, and artificial landmarks recognition. The extended Kalman filter (EKF) is also used to integrate the measurements from vision and odometer. Experiments have also been carried out to verify the functionalities of the system.
Keywords :
Kalman filters; path planning; robot vision; artificial landmarks recognition; extended Kalman filter; infrared illumination; omnidirectional imaging; omnidirectional vision; robot navigation; substation environments; Image recognition; Infrared imaging; Inspection; Lighting; Machine vision; Mobile robots; Navigation; Optical imaging; Robot vision systems; Substations; artificial landmarks recognition; near infrared illumination; omni-directional imaging;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420824
