DocumentCode :
681522
Title :
Realtime 2D code based localization for indoor robot navigation
Author :
Dzodzo, Borislav ; Long Han ; Xu Chen ; Huihuan Qian ; Yangsheng Xu
Author_Institution :
Fac. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China
fYear :
2013
fDate :
12-14 Dec. 2013
Firstpage :
486
Lastpage :
492
Abstract :
In this paper ceiling affixed ARToolKitPlus 2D code artificial landmarks are evaluated for purposes of robot localization and navigation. Ceiling affixed codes rarely come in contact with people, equipment or robots, and for this reason they are more likely to stay detectable over a longer period of time. Multi threshold averaging, light gradient compensation and neighbourhood search techniques further enhanced AR-ToolKitPlus performance. Multi threshold averaging collects positioning results at each gray scale threshold level. After all of the threshold levels are analyzed, the related results are averaged into a final result. Light gradient compensation eliminates effects of uneven lighting in the neighbourhood of a 2D code. Neighbourhood search for a 2D code requires fewer computational resources than a global search. Further repeatability improvements are achieved by means of averaging localizations. Localization performance is evaluated at varying distances of the 2D code from the camera. Experimental results show substantial improvements in repeatability and reliability over the baseline ARToolKitPlus performance. Improved performance will allow for realtime 2D code based localization for indoor robot navigation.
Keywords :
gradient methods; image colour analysis; image segmentation; mobile robots; navigation; real-time systems; ARToolKitPlus 2D code artificial landmarks; gray scale threshold level; indoor robot navigation; light gradient compensation; multithreshold averaging; neighbourhood search techniques; realtime 2D code based localization; robot localization; Cameras; Image color analysis; Navigation; Noise; Optimization; Reliability; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
Type :
conf
DOI :
10.1109/ROBIO.2013.6739507
Filename :
6739507
Link To Document :
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