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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2021, Vol. 3 Issue (3): 185-198    DOI: 10.1049/csy2.12021
    
A single camera 360-degree real time vision-based localization method with application to mobile robot trajectory tracking
A single camera 360-degree real time vision-based localization method with application to mobile robot trajectory tracking
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摘要： A method is proposed for real-time vision-based localization in the 360° area around a three-dimensional (3D) reference object with a single camera. The problem is split into three subproblems. First, 360° 3D object recognition is proposed, in which a computer vision solution can recognize a reference object from all possible 360° locations. Second, 360° pose estimation is presented, in which the pose of a robot at all locations is estimated. Third, a 360° localization application is integrated with a closed-loop real-time trajectory tracking controller. The successful results of simulations and real experiments of trajectory tracking are also presented.
Abstract: A method is proposed for real-time vision-based localization in the 360° area around a three-dimensional (3D) reference object with a single camera. The problem is split into three subproblems. First, 360° 3D object recognition is proposed, in which a computer vision solution can recognize a reference object from all possible 360° locations. Second, 360° pose estimation is presented, in which the pose of a robot at all locations is estimated. Third, a 360° localization application is integrated with a closed-loop real-time trajectory tracking controller. The successful results of simulations and real experiments of trajectory tracking are also presented.
出版日期: 2021-05-30
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Khomsun Singhirunnusorn
Farbod Fahimi
Ramazan Aygun

引用本文:

Khomsun Singhirunnusorn, Farbod Fahimi, Ramazan Aygun. A single camera 360-degree real time vision-based localization method with application to mobile robot trajectory tracking. IET Cyber-Systems and Robotics, 2021, 3(3): 185-198.

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https://www.zjujournals.com/iet-csr/CN/10.1049/csy2.12021    或    https://www.zjujournals.com/iet-csr/CN/Y2021/V3/I3/185

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