Abstract
This paper presents a practical path-tracking method for a mobile robot with only a downward camera facing the passage plane. A unique algorithm for tracking and searching ground images with natural texture is used to localize the robot without a feature-point extraction scheme commonly used in other visual odometry methods. In our tracking algorithm, groups of reference pixels are used to detect the relative translation and rotation between frames. Furthermore, a reference pixel group of another shape is registered both to record a path and to correct errors accumulated during localization. All image processing and robot control operations are carried out with low memory consumption for image registration and fast calculation times for completing the searches on a laptop PC. We also describe experimental results in which a vehicle developed by the proposed method repeatedly performed precise path tracking under indoor and outdoor environments.
| Original language | English |
|---|---|
| Title of host publication | IEEE International Conference on Intelligent Robots and Systems |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 6053-6058 |
| Number of pages | 6 |
| Volume | 2015-December |
| ISBN (Print) | 9781479999941 |
| DOIs | |
| Publication status | Published - Dec 11 2015 |
| Event | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: Sep 28 2015 → Oct 2 2015 |
Other
| Other | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 |
|---|---|
| Country | Germany |
| City | Hamburg |
| Period | 9/28/15 → 10/2/15 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Cite this
Path tracking by a mobile robot equipped with only a downward facing camera. / Nagai, Isaku; Watanabe, Keigo.
IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. p. 6053-6058 7354239.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Path tracking by a mobile robot equipped with only a downward facing camera
AU - Nagai, Isaku
AU - Watanabe, Keigo
PY - 2015/12/11
Y1 - 2015/12/11
N2 - This paper presents a practical path-tracking method for a mobile robot with only a downward camera facing the passage plane. A unique algorithm for tracking and searching ground images with natural texture is used to localize the robot without a feature-point extraction scheme commonly used in other visual odometry methods. In our tracking algorithm, groups of reference pixels are used to detect the relative translation and rotation between frames. Furthermore, a reference pixel group of another shape is registered both to record a path and to correct errors accumulated during localization. All image processing and robot control operations are carried out with low memory consumption for image registration and fast calculation times for completing the searches on a laptop PC. We also describe experimental results in which a vehicle developed by the proposed method repeatedly performed precise path tracking under indoor and outdoor environments.
AB - This paper presents a practical path-tracking method for a mobile robot with only a downward camera facing the passage plane. A unique algorithm for tracking and searching ground images with natural texture is used to localize the robot without a feature-point extraction scheme commonly used in other visual odometry methods. In our tracking algorithm, groups of reference pixels are used to detect the relative translation and rotation between frames. Furthermore, a reference pixel group of another shape is registered both to record a path and to correct errors accumulated during localization. All image processing and robot control operations are carried out with low memory consumption for image registration and fast calculation times for completing the searches on a laptop PC. We also describe experimental results in which a vehicle developed by the proposed method repeatedly performed precise path tracking under indoor and outdoor environments.
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UR - http://www.scopus.com/inward/citedby.url?scp=84958211686&partnerID=8YFLogxK
U2 - 10.1109/IROS.2015.7354239
DO - 10.1109/IROS.2015.7354239
M3 - Conference contribution
AN - SCOPUS:84958211686
SN - 9781479999941
VL - 2015-December
SP - 6053
EP - 6058
BT - IEEE International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
ER -