DocumentCode :
3047819
Title :
Mobile Care Robot Localization and Guidance Using Image Structure Map
Author :
Chuan-Pin Lu ; Ta-Hua Yeh ; Wei Huang
Author_Institution :
Dept. of Inf. Technol., Meiho Univ., Pingtung, Taiwan
fYear :
2013
fDate :
13-16 Oct. 2013
Firstpage :
3796
Lastpage :
3801
Abstract :
This paper presents a localization and guidance method for mobile robots based on computer vision. The purpose of this study was to use CCTV-system video images to position and guide mobile robots. This method enables direct observation of the robot and is not influenced by the characteristics of a specific region or area, changes in the environment at a certain time are used to guide the robot´s movement. In this study, an image structure map was designed to guide the movement of the robot, and motion detection was integrated to position the robot. Throughout the movement process, ultrasound was used to detect obstacles and send feedback to the image structure map, which then immediately labeled the map and changed the course of the robot. This method may be directly employed for care robots and can be extended to other applications in the future.
Keywords :
closed circuit television; collision avoidance; feedback; health care; image motion analysis; medical robotics; mobile robots; robot vision; ultrasonic imaging; video signal processing; CCTV-system video images; computer vision; feedback; guidance method; image structure map; mobile care robot localization; mobile robot positioning; motion detection; movement process; obstacle detection; ultrasound; Cameras; Image edge detection; Robot kinematics; Robot vision systems; computer vision; guidance; image structure map; localization; mobile robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on
Conference_Location :
Manchester
Type :
conf
DOI :
10.1109/SMC.2013.648
Filename :
6722401
Link To Document :
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