Autonomous mobile robot motion control in non-structured environments based on real-time video processing

Author

Ferruz, J. ; Ollero, A.

Author_Institution

Dept. de Ingenieria de Sistemas, Seville Univ., Spain

Volume

2

fYear

1997

fDate

7-11 Sep 1997

Firstpage

725

Abstract

This paper describes a method for mobile robot position estimation based on feature tracking through the sequence of images provided by a conventional video camera. The block-based correspondence algorithms selects candidates through grey level matching and local coherence analysis; a DSP-based multiprocessing image processing system is used to achieve real time performance. Point-to-point correspondences are used to estimate the motion parameters of a mobile robot. Motion-based procedures to eliminate false matching have been implemented. The method has been applied to a mobile robot in non-structured and outdoor environments

Keywords

image matching; image sequences; mobile robots; motion control; motion estimation; optical tracking; path planning; robot vision; autonomous mobile robot; feature tracking; grey level matching; image matching; image processing system; image sequence; local coherence analysis; motion control; motion estimation; point-to-point correspondences; position estimation; real-time systems; video processing; Algorithm design and analysis; Cameras; Image analysis; Image processing; Mobile robots; Motion control; Motion estimation; Performance analysis; Real time systems; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on

Conference_Location

Grenoble

Print_ISBN

0-7803-4119-8

Type

conf

DOI

10.1109/IROS.1997.655091

Filename

655091