Localization through omnivision for a tour-guide robot

• Autores: Cristina Gamallo Solórzano, Pablo Quintía Vidal, Carlos V. Regueiro , Manuel Mucientes Molina
• Localización: JoPha: Journal of Physical Agents, ISSN-e 1888-0258, Vol. 3, Nº. 1, 2009, págs. 25-34
• Idioma: inglés
• DOI: 10.14198/jopha.2009.3.1.04
• Enlaces
  • Texto completo
• Resumen

  • The localization of a mobile robot in a real environment is a complex task. In this paper, an algorithm that solves the global localization is presented. The proposal is based on a merit function that ranks different possible poses obtained from the acquired image, together with an iterative process for the minimization of that function using a particle filter. Landmark detection has been done with an omnidirectional camera pointing to the ceiling, combined with an infrared passband filter which extracts the lights. Several real experiments, both for global localization and the kidnapped robot problem, have been done in a museum. Results show a high accuracy, robustness, and real-time execution in this complex and crowded environment.

• Referencias bibliográficas
  • [1] Andreasson, H., Treptow, A., & Duckett, T. (2005). Localization for mobile robots using panoramic vision, local features and particle...
  • [2] Bakstein, H., & Pajdla, T. (2002). Panoramic mosaicing with a 180° field of view lens. In Omnidirectional Vision, 2002. Proceedings....
  • [3] Brassart, E., Delahoche, L., Cauchois, C., Drocourt, C., Pegard, C., & Mouaddib, E. L. (2000). Experimental results with the omnidirectional...
  • [4] Cao, Z. L., Oh, S. J., & Hall, E. L. (1986). Dynamic omnidirectional vision for mobile robots. Journal of Robotic Systems.
  • [5] Chekhlov, D., Pupilli, M., Mayol, W., & Calway, A. (2007). Robust real-time visual SLAM using scale prediction and exemplar-based...
  • [6] Choset, H., Lynch, M. K., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L. E., & Thrun, S. (2005). Principles of Robot Motion:...
  • [7] Clerentin, A., Delahoche, L., Brassart, E., & Drocourt, C. (2003). Localisations absolues en milieu interieur bases sur la vision...
  • [8] Davison, A. J., Gonzalez, Y., & Kita, N. (2004). Real-time 3D SLAM with wide-angle vision. In IAV 2004 (July 2004).
  • [9] Fox, D., Thrun, S., Burgard, W., Dellaert, F., & Fernandez, C. (2001). Particle filters for mobile robot localization. In Sequential...
  • [10] Menegatti, E., Pretto, A., Scarpa, A., & Pagello, E. (2006). Omnidirectional vision scan matching for robot localization in dynamic...
  • [11] Murillo, A. C., Sagués, C., Guerrero, J. J., Goedemé, T., Tuytelaars, T., & Van Gool, L. (2006). Hierarchical localization by matching...
  • [12] Pascual Roda, J., Saez, J. M., & Escolano, F. (2007). Ceiling mosaics through information-based SLAM. In Intelligent Robots and Systems,...
  • [13] Sun, Y., Cao, Q., & Chen, W. (2004). An object tracking and global localization method using omnidirectional vision system. In 5th...
  • [14] Tamini, H., Andreasson, H., Treptow, A., Duckett, T., & Zell, A. (2005). Localization of mobile robots with omnidirectional vision...
  • [15] Thrun, S., Burgard, W., & Fox, D. (2003). Probabilistic Robotics. MIT Press.
  • [16] Thrun, S., Beetz, M., Bennewitz, M., Cremers, A., Dellaert, F., Fox, D., Hahnel, D., Rosenberg, C., Roy, N., Schulte, J., & Schulz,...