DocumentCode :
2746804
Title :
Vision-Based Mobile Robot Pose Tracking in RoboCup Environment
Author :
Chen, Shui-de ; Wang, Ke ; Xing, Rui-zi ; Wang, Wei
Author_Institution :
Res. Center of Inf. & Control, Dalian Univ. of Technol.
Volume :
2
fYear :
0
fDate :
0-0 0
Firstpage :
9322
Lastpage :
9326
Abstract :
Self-localization is a fundamental and essential task for middle-sized mobile robots competition in RoboCup environment. A vision-based pose tracking approach for robot soccer is proposed in this paper firstly. In order to evaluate fitness between the prior and the estimated pose, an objective function is also formulated in the self-localization method so that the incoming odometry data and monocular vision feature can fuse effectively. According to a set of points given in the prior global map, mobile robot uses the position and orientation estimated from odometry to generate corresponding map points in robot´s view, which are projected to the image plane through camera model to form the predicted scene for feature matching. After the points´ searching perpendicular to the tangent of the projected curve, the correspondence between estimated and measured vision features is established and further Newton iterative algorithm is applied to estimate posterior robot pose. Experiment result implemented in real mobile robot platform and error analysis show the method´s validity and practicability
Keywords :
Newton method; mobile robots; motion control; multi-robot systems; robot vision; Newton iterative algorithm; RoboCup environment; mobile robot; robot pose estimation; robot soccer; self-localization method; vision-based pose tracking; Automation; Cameras; Error analysis; Fuses; Intelligent control; Iterative algorithms; Layout; Mobile robots; Predictive models; Robot vision systems; data fusion; feature matching; pose tracking; projection model; robotic soccer;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
Type :
conf
DOI :
10.1109/WCICA.2006.1713805
Filename :
1713805
Link To Document :
بازگشت