A mobile robot using a panoramic view
A mobile robot using a panoramic view
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使用全景视图的移动机器人
DOI：
10.1109/robot.1996.503578
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
E. Mouaddib
中科院分区：
文献类型：
--
作者：
C. Pégard;E. Mouaddib
移动的机器人实际上使用内部和外部传感器的组合来确定其在路径跟随期间的位置和方向。增量编码器、陀螺仪通常用于给出定位的近似估计。然而，这些内部传感器的累积漂移必须用外感受传感器定期校正。因此，作者提出，在本文中，光学全向传感器，可以给，与一个适应的软件，绝对定位。该传感器由与圆锥形反射器相关联的CCD摄像机制成;因此，2 /spl π/弧度场的视图可用于计算机器人的位置。作者报告的匹配算法，允许一个本地观察到的场景被替换在全球导航区域。对该系统进行了精度分析，并给出了实验结果.
Mobile robots use actually a combination of internal and external sensors to determine their position and orientation in a path following period. Incremental encoders, gyrometers are generally used to give an approximative estimation of localization. Nevertheless, the cumulative drifts of these internal sensors must be periodically corrected with an exteroceptive sensor. So, the authors present, in this paper, an optical omnidirectional sensor which can give, with an adapted software, an absolute localization. This sensor is made of a CCD video camera associated with a conic shaped reflector; so, a view of a 2 /spl pi/ radian field is available to compute the position of the robot. The authors report the matching algorithm allowing a local observed scene to be replaced in the global navigation area. The authors conduct the accuracy analysis of this global positioning system, and present the experimental results.