NDLI: Mobile robot localization system using multiple ceiling mounted cameras

Content Provider	IEEE Xplore Digital Library
Author	Visvanathan, R. Mamduh, S.M. Kamarudin, K. Yeon, A.S.A. Zakaria, A. Shakaff, A.Y.M. Kamarudin, L.M. Saad, F.S.A.
Copyright Year	2015
Description	Author affiliation: Centre of Excellence for Adv. Sensor Technol., Univ. Malaysia Perlis, Arau, Malaysia (Visvanathan, R.; Mamduh, S.M.; Kamarudin, K.; Yeon, A.S.A.; Zakaria, A.; Shakaff, A.Y.M.; Kamarudin, L.M.; Saad, F.S.A.)
Abstract	Almost all robotics applications require accurate robot positioning. However, most of the developed methods lacks in ground truth reference to verify its accuracy relative to the real world. This paper proposes an effective vision based system to accurately track mobile robot's true position and orientation using multiple overhead cameras. This system is able to track and localize multiple mobile robots simultaneously within a 3m × 6m arena. Images from the cameras are calibrated using calibration grid image to remove fish eye effect and further calibrated based on point coordinates (x, y) to eliminate camera angle distortion error. Each robot is assigned with a symbol marker for identification. A geometric feature based pattern matching algorithm is used to track the markers position and orientation. Data obtained from all four cameras are merged according to its relative offsets to obtain localization in a global coordinate frame. The developed system is able to localize multiple robots with errors of less than 1 cm and 1°.
Sponsorship	IEEE
Starting Page	1
Ending Page	4
File Size	1026730
Page Count	4
File Format	PDF
e-ISBN	9781479982035
DOI	10.1109/ICSENS.2015.7370454
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-01
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Cameras Robot vision systems Calibration image distortion pose estimation overhead cameras pattern matching
Content Type	Text
Resource Type	Article

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