NDLI: Omnidirectional-vision-based estimation for containment detection of a robotic mower

Content Provider	IEEE Xplore Digital Library
Author	Junho Yang Soon-Jo Chung Hutchinson, S. Johnson, D. Kise, M.
Copyright Year	2015
Description	Author affiliation: Coordinated Sci. Lab., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA (Soon-Jo Chung; Hutchinson, S.) \|\| Dept. of Mech. Sci. & Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA (Junho Yang) \|\| Intell. Solution Group, Urbandale, IA, USA (Kise, M.) \|\| Turf & Utility Adv. Dev., Cary, NC, USA (Johnson, D.)
Abstract	In this paper, we present an omnidirectional-vision-based localization and mapping system which can detect whether a robotic mower is contained in a permitted area. We exploit a robot-centric mapping framework that exploits a differential equation of motion of the landmarks, which are referenced with respect to the robot body frame. The estimator in our system generates a 3D point-based map with landmarks. Concurrently, the estimator defines a boundary of the mowing area with the estimated trajectory of the mower. The estimated boundary and the landmark map are provided for the estimation of the mowing location and for the containment detection. We validate the effectiveness of our system through numerical simulations and present the results of the outdoor experiment that we conducted with our robotic mower.
Starting Page	6344
Ending Page	6351
File Size	1705661
Page Count	8
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7140090
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Estimation Robot kinematics Cameras Robot vision systems Simultaneous localization and mapping
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
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