NDLI: Application of Vision Target Localization for Mobile Robot

Content Provider	IEEE Xplore Digital Library
Author	Jusoh, R.M.
Copyright Year	2006
Description	Author affiliation: Fac. of Eng., Univ. Putra Malaysia, Serdang (Jusoh, R.M.)
Abstract	A though challenge for an autonomous mobile robot is reliable targets detection and localization. Many types of sensor are used for that purposes such as infrared, sonar, vision and laser. Monocular vision is one of the methods used for that reasons. Based on current trends vision sensor is used as different functions such as target recognition, obstacles avoidance, and navigation. This paper addresses issue on targets localization using a single color vision system. The objective is to localize targets at various locations to be retrieved by the mobile robot. The distances towards the targets are estimated based on decreasing in their sizes as the locations are farther from the mobile robot. Targets detection is done using color thresholding technique in RGB color space. The threshold value is selected by taking mean value of image samples and its standard deviation of the color components difference. The simple features such as diameter, x-y ratio and area are used to verify the correct targets are detected. The localization method takes less than one second to be completed where the system is running on Windows platform. The efficiency of the estimation is more than 90 percents and targets used in the testing are golf balls.
Starting Page	144
Ending Page	146
File Size	149741
Page Count	3
File Format	PDF
ISBN	9781424405268
DOI	10.1109/SCORED.2006.4339327
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-27
Publisher Place	Malaysia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Learning systems Robot kinematics Machine vision Robot vision systems Object detection Robot sensing systems Mobile robots Artificial intelligence Intelligent robots Orbital robotics
Content Type	Text
Resource Type	Article

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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
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