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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Faigl, J. Krajnik, T. Chudoba, J. Preucil, L. Saska, M. |
| Copyright Year | 2013 |
| Description | Author affiliation: Fac. of Electr. Eng., Czech Tech. Univ. in Prague, Prague, Czech Republic (Faigl, J.; Krajnik, T.; Chudoba, J.; Preucil, L.; Saska, M.) |
| Abstract | In this paper, we present a small, light-weight, low-cost, fast and reliable system designed to satisfy requirements of relative localization within a swarm of micro aerial vehicles. The core of the proposed solution is based on off-the-shelf components consisting of the Caspa camera module and Gumstix Overo board accompanied by a developed efficient image processing method for detecting black and white circular patterns. Although the idea of the roundel recognition is simple, the developed system exhibits reliable and fast estimation of the relative position of the pattern up to 30 fps using the full resolution of the Caspa camera. Thus, the system is suited to meet requirements for a vision based stabilization of the robotic swarm. The intent of this paper is to present the developed system as an enabling technology for various robotic tasks. |
| Starting Page | 993 |
| Ending Page | 998 |
| File Size | 774339 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467356411 |
| ISSN | 10504729 |
| e-ISBN | 9781467356435 |
| DOI | 10.1109/ICRA.2013.6630694 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-05-06 |
| Publisher Place | Germany |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Image resolution Lenses |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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