NDLI: An on-line calibrated visual intelligent space for navigation and control of mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Wen-Chung Chang
Copyright Year	2009
Description	Author affiliation: Department of Electrical Engineering, National Taipei University of Technology, 106, Taiwan, R.O.C. (Wen-Chung Chang)
Abstract	An intelligent space employing multiple vision sensors is proposed. The union of the sensing ranges of these vision sensors covers a large unknown workspace where a mobile robot can proceed to explore. The goal of this research is to accomplish mobile robot localization and navigation based on such an on-line calibrated sensor network. In particular, each adjacent IP camera pair is assumed to have an overlapping field of view, but the positions and orientations of the IP cameras with respect to either the Cartesian space or any mobile robot are unknown. The idea is to control the mobile robot to actively perform calibration with any stationary IP camera that can observe pre-selected features onboard the mobile robot, and thus establish coordinate transformations among these IP cameras. The proposed system only requires a PC and a network of stationary IP cameras without performing off-line calibration. Therefore, this seemingly novel approach appears to be low-cost, effective, efficient, and flexible.
Starting Page	4798
Ending Page	4803
File Size	559801
Page Count	6
File Format	PDF
ISBN	9784907764340
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-18
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Intelligent robots Navigation Robot control Mobile robots Intelligent sensors Robot vision systems Cameras Space technology Calibration Computer networks Visual servoing Intelligent space Mobile robot On-line calibration Robot navigation
Content Type	Text
Resource Type	Article

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