Title :
Vision-based localization system for XY tracking platform
Author :
Chi-Tai Cheng ; Ching-Chang Wong ; Hao-Chia Chung ; Yueh-Yang Hu ; De-Jr Liou ; Jian-Hung Wu
Author_Institution :
Dept. of Electr. Eng., Tamkang Univ., Taipei, Taiwan
fDate :
May 31 2013-June 2 2013
Abstract :
A vision-based localization system for XY Tracking platform is proposed in this paper. This platform is designed for assisting the humanoid robot to measure the walking performance. When the humanoid robot walks, the platform will keep tracking the robot and localize the position. The proposed system is able to overcome the image block problem, which is caused by the humanoid robot´s moving. Two cameras are mounted on the XY platform to analyze the robot´s position and the platform´s position. Five color models including Red, Yellow, Green, Blue, and Purple are used for building the landmark. Each landmark is a combination of two or three colors. The platform labels the landmark by a series of the image processing procedure. After the platform labels the landmarks, the platform calculates the relationship between the landmark and the platform to localize itself. The experiment illustrates the effectiveness of the proposed system.
Keywords :
cameras; humanoid robots; image colour analysis; mobile robots; path planning; robot vision; XY tracking platform; blue color model; green color model; humanoid robot; humanoid robot walks; image block problem; image processing procedure; platform labels; position localization; purple color model; red color model; robot position analysis; vision-based localization system; walking performance; yellow color model; Cameras; Humanoid robots; Image color analysis; Legged locomotion; Robot sensing systems; Tracking; localization; vision-based; x y table;
Conference_Titel :
Advanced Robotics and Intelligent Systems (ARIS), 2013 International Conference on
Conference_Location :
Tainan
Print_ISBN :
978-1-4799-0100-5
DOI :
10.1109/ARIS.2013.6573550