NDLI: Estimation of mobile robot orientation using neural networks

Content Provider	IEEE Xplore Digital Library
Author	Paulraj, M.P. Ahmad, R.B. Hema, C.R. Hashim, F.
Copyright Year	2009
Description	Author affiliation: School of Mechatronic Engineering, University Malaysia Perlis (UniMAP), Malaysia (Paulraj, M.P.; Hema, C.R.) \|\| School of Computer and Communication Engineering, University Malaysia Perlis (UniMAP), Malaysia (Ahmad, R.B.; Hashim, F.)
Abstract	The computation of a mobile robot position and orientation is a common task in the area of computer vision and image processing. For a successful application, it is important that the position and orientation of a mobile robot must be determined properly. In this paper, a simple procedure for determining the orientation of the mobile robot using two cameras is presented. The two cameras are used to capture the images of a mobile robot at various orientations. Four simple neural network models are developed to associate the inputs and output (orientation). First and second neural network models are used to estimate the orientation of a mobile robot using only the features derived from the first and second camera. The third neural network model is used for estimating the orientation of a mobile robot using features derived from both the first and second camera. The fourth neural network model is used to estimate the orientation using features derived from the combined images. Simulation results show that the proposed algorithm can be used to estimate the orientation of the mobile robot accurately.
Starting Page	42
Ending Page	46
File Size	979572
Page Count	5
File Format	PDF
ISBN	9781424441518
DOI	10.1109/CSPA.2009.5069185
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-03-06
Publisher Place	Malaysia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer vision orientation Robot vision systems Sonar navigation mobile robot Mobile robots Application software neural network Neural networks Signal processing Cameras Robot sensing systems Floors stereo imaging
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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