NDLI: Visual odometry and control for an omnidirectional mobile robot with a downward-facing camera

Content Provider	IEEE Xplore Digital Library
Author	Killpack, M. Deyle, T. Anderson, C. Kemp, C.C.
Copyright Year	2010
Description	Author affiliation: Healthcare Robotics Lab, Georgia Institute of Technology, USA (Killpack, M.; Deyle, T.; Anderson, C.; Kemp, C.C.)
Abstract	An omnidirectional Mecanum base allows for more flexible mobile manipulation. However, slipping of the Mecanum wheels results in poor dead-reckoning estimates from wheel encoders, limiting the accuracy and overall utility of this type of base. We present a system with a downward-facing camera and light ring to provide robust visual odometry estimates. We mounted the system under the robot which allows it to operate in conditions such as large crowds or low ambient lighting. We demonstrate that the visual odometry estimates are sufficient to generate closed-loop PID (Proportional Integral Derivative) and LQR (Linear Quadratic Regulator) controllers for motion control in three different scenarios: waypoint tracking, small disturbance rejection, and sideways motion. We report quantitative measurements that demonstrate superior control performance when using visual odometry compared to wheel encoders. Finally, we show that this system provides high-fidelity odometry estimates and is able to compensate for wheel slip on a four-wheeled omnidirectional mobile robot base.
Starting Page	139
Ending Page	146
File Size	2819247
Page Count	8
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649749
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheels Robot kinematics Mobile robots Cameras Robot vision systems Equations
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Visual Odometry and Control for an Omnidirectional Mobile Robot with a Downward-Facing Camera

A study of visual odometry for mobile robots using omnidirectional camera

Featureless omnidirectional vision-based control of non-holonomic mobile robot

Visual odometry in mobile robots

Visual servoing using triangulation with an omnidirectional multi-camera system

Tracking control for uncertain dynamic nonholonomic mobile robots with unknown visual parameters

An adaptive algorithm for localizing mobile robots using omnidirectional vision system and odometry sensors

Visual Guidance for a Mobile Robot with a Camera

Performance analysis and odometry improvement of an omnidirectional mobile robot for outdoor terrain

Visual odometry and control for an omnidirectional mobile robot with a downward-facing camera

Similar Documents

Visual Odometry and Control for an Omnidirectional Mobile Robot with a Downward-Facing Camera

A study of visual odometry for mobile robots using omnidirectional camera

Featureless omnidirectional vision-based control of non-holonomic mobile robot

Visual odometry in mobile robots

Visual servoing using triangulation with an omnidirectional multi-camera system

Tracking control for uncertain dynamic nonholonomic mobile robots with unknown visual parameters

An adaptive algorithm for localizing mobile robots using omnidirectional vision system and odometry sensors

Visual Guidance for a Mobile Robot with a Camera

Performance analysis and odometry improvement of an omnidirectional mobile robot for outdoor terrain

Visual odometry and control for an omnidirectional mobile robot with a downward-facing camera