Omnidirectional-vision-based estimation for containment detection of a robotic mower
Omnidirectional-vision-based estimation for containment detection of a robotic mower
复制标题
基于全向视觉的机器人割草机遏制检测估计
DOI：
--
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
M. Kise
中科院分区：
文献类型：
--
作者：
Junho Yang;Soon;S. Hutchinson;David A. Johnson;M. Kise
在本文中，我们提出了一个基于全向视觉的定位和映射系统，该系统可以检测机器人割草机是否包含在允许的区域内。我们利用了一个以机器人为中心的映射框架，该框架利用了与机器人身体框架相关的地标运动微分方程。我们系统中的估计器生成一个带有地标的3D点地图。同时，估计器用估计的割草机轨迹定义割草区域的边界。所述估计边界和地标图用于估计割草位置和围堵检测。我们通过数值模拟验证了我们系统的有效性，并展示了我们用机器人割草机进行的室外实验结果。
In this paper, we present an omnidirectional-vision-based localization and mapping system which can detect whether a robotic mower is contained in a permitted area. We exploit a robot-centric mapping framework that exploits a differential equation of motion of the landmarks, which are referenced with respect to the robot body frame. The estimator in our system generates a 3D point-based map with landmarks. Concurrently, the estimator defines a boundary of the mowing area with the estimated trajectory of the mower. The estimated boundary and the landmark map are provided for the estimation of the mowing location and for the containment detection. We validate the effectiveness of our system through numerical simulations and present the results of the outdoor experiment that we conducted with our robotic mower.
登记。
DOI：
10.1007/978-1-4939-7647-8_1
发表时间：
2018
期刊：
Neuromethods
影响因子：
--
作者：
Joshi,AnandA
通讯作者：
Joshi,AnandA