DocumentCode :
3586897
Title :
A simple algorithm for position and velocity estimation of mobile robots using omnidirectional vision and inertial sensors
Author :
Luyang Li ; Yun-Hui Liu ; Kai Wang ; Mu Fang
Author_Institution :
Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, China
fYear :
2014
Firstpage :
1235
Lastpage :
1240
Abstract :
Despite of many efforts by researches, real-time localization of mobile robot only using onboard sensor is still an open problem in mobile robotics. To contribute this research area, in this paper, a simple and effective method is proposed based on an adaptive estimator for estimating the position and linear velocity of a mobile robot in an unknown and unstructured environment using measurements of onboard inertial sensors and visual feedback of a catadioptric vision system. This novel method is developed on the basis of a new projection model of catadioptric vision, where the highly nonlinear projection model of catadioptric vision can be represented as a similar form to that of perspective vision. It is proved that this method leads to global exponential convergence of the estimation errors of the robot´s position and linear velocity to zero. Experimental results validate the performance of the proposed method.
Keywords :
adaptive estimation; mobile robots; path planning; robot vision; adaptive estimator; catadioptric vision projection model; catadioptric vision system; estimation error global exponential convergence; mobile robot real-time localization; omnidirectional vision; onboard inertial sensor measurement; perspective vision; position estimation; velocity estimation; visual feedback; Estimation error; Machine vision; Mobile robots; Robot sensing systems; Sensor systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
Type :
conf
DOI :
10.1109/ROBIO.2014.7090502
Filename :
7090502
Link To Document :
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