NDLI: Using Laser and Vision to Locate a Robot in an Industrial Environment: A Practical Experience

Content Provider	IEEE Xplore Digital Library
Author	Alenya, G. Escoda, J. Martinez, A.B. Torras, C.
Copyright Year	2005
Description	Author affiliation: Institut de Robòtica i Informàtica Industrial (UPC-CSIC) Llorens i Artigas 4-6, 08028 Barcelona, Email: galenya@iri.upc.es (Alenya, G.)
Abstract	The fully flexible navigation of autonomous vehicles in industrial environments is still unsolved. It is hard to conciliate strict precision requirements with quick adaptivity to new settings without undergoing costly rearrangements. We are pursuing a research project trying to combine the precision of laser-based local positioning with the flexibility of vision-based robot motion estimation. An enhanced circle approach to dynamic triangulation combining laser and odometric signals has been used to improve positioning accuracy. As regards to vision, a novel technique relating the deformation of contours in an image sequence to the 3D motion underwent by the camera has been developed. Interestingly, contours are fitted to objects already present in the environment, without requiring any presetting. In this paper, we describe a practical experience conducted in the warehouse of a beer production factory in Barcelona. A database containing the laser readings, image sequences and robot odometry along several trajectories was compiled, and subsequently processed off-line in order to assess the accuracies of both techniques under a variety of circumstances. In all, vision-based estimation turned out to be about one order of magnitude less precise than laser-based positioning, which qualifies the vision-based technique as a promising alternative to accomplish robot transfers across long distances, such as those needed in a warehouse, while backing up on laser-based positioning when accurate docking for loading and unloading operations is needed.
Starting Page	3528
Ending Page	3533
File Size	269814
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570656
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Service robots Robot vision systems Image sequences Navigation Remotely operated vehicles Mobile robots Robot motion Motion estimation Vehicle dynamics Cameras
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

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