Localization of a mobile robot using images of a moving target

Kim, B.H.; Roh, Dong-Kyu; Lee, J.M.; Lee, M.H.; Lee, Kyu-Bok; Lee, M.C.; Choi, Jae Weon; Han, Sang Hyun

doi:10.1109/robot.2001.932562

Cited by 39 publications

(26 citation statements)

References 6 publications

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“…The localization scheme of the mobile robot using the information on the walking human, which improves the accuracy in capturing, is developed in Kim et al, 2001. The target point of the mobile robot at k-th sampling time is denoted as ( )…”

Section: Methodsmentioning

confidence: 99%

“…These sensors detect the relative position of the mobile robot to the target human. The mobile robot in Kim et al (2001) recognizes a human's skin colour using a CCD camera, and traces the target human by combining pan-tilt control of a CCD camera. In addition to the vision sensor, a voice recognition sensor and LED sensors are mounted in the mobile robot (Lee et al, 1999;Lee et al, 2002), which is able to follow humans in an outdoor environment.…”

Section: Introductionmentioning

confidence: 99%

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Networked Sensor - Aided Tracking of Walking Human in Robotic Space

Jin

2013

International Journal of Advanced Robotic Systems

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The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, it is necessary for a robot to carry out human tracking as one of its human-affinitive movements.In this research, a predictable robotic space is introduced in order for a robot to follow a walking human by the shortest time trajectory. The mobile robot is controlled to follow the walking human using distributed networked sensors. The moving object is assumed to be a pointobject and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the robotic space. The computer simulation and experimental results on the mobile robot's success in estimating information and following a walking human are presented.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Networked Sensor - Aided Tracking of Walking Human in Robotic Space

Jin

2013

International Journal of Advanced Robotic Systems

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“…For example, using Extended Kalman Filtering (EKF) techniques on the linearized kinematic model, the authors of [6] used feedback from a monocular omnidirectional camera system to enable wall following, follow-the-leader, and position regulation tasks. Also using EKF techniques, the authors of [13] recently proposed a monocular visual servo tracking controller for WMRs that relies on consecutive image frames and an object database. However, a drawback of the EKF approaches developed in [6] and [13] is the linearization requirement.…”

Section: Introductionmentioning

confidence: 99%

“…Also using EKF techniques, the authors of [13] recently proposed a monocular visual servo tracking controller for WMRs that relies on consecutive image frames and an object database. However, a drawback of the EKF approaches developed in [6] and [13] is the linearization requirement. In [12], Hager et al used a monocular vision system mounted on a pantilt-unit to generate image-Jacobian and geometry-based controllers by using different snapshots of the target and an epipolar constraint.…”

Section: Introductionmentioning

confidence: 99%

Visual Servo Tracking Control of a Wheeled Mobile Robot with a Monocular Fixed Camera

Chen¹,

Dixon²,

Dawson³

et al. 2004

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Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. AbstractIn this paper, a visual servo tracking controller for a wheeled mobile robot (WMR) is developed that utilizes feedback from a monocular camera system that is mounted with a fixed position and orientation (i.e., the eye-to-hand problem). A prerecorded image sequence (e.g., a video) of four target points is used to define a desired trajectory for the WMR. By comparing the target points from the prerecorded sequence with the corresponding target points in the live image, projective geometric relationships are exploited to construct a Euclidean homography. The information obtained by decomposing the Euclidean homography is used to develop a kinematic controller. A Lyapunov-based analysis is used to develop an adaptive update law to actively compensate for the lack of depth information required for the translation error system. In contrast to previous WMR visual servo controllers using a fixed camera configuration, the controller in this paper does not require the camera to be mounted so that the optical axis is perpendicular to the WMR plane of motion. An extension is provided to illustrate the development of a visual servo regulation controller. Simulation results are provided to demonstrate the performance of the tracking control design.

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“…While this is still an active area of research, various shortcomings associated with these technologies and recent advances in image extraction/interpretation technology and advances in control theory have motivated researchers to investigate the sole use of camera-based vision systems for autonomous navigation. For example, using consecutive image frames and an object database, the authors of [18] recently proposed a monocular visual servo tracking controller for WMRs based on a linearized system of equations and Extended Kalman Filtering (EKF) techniques. Also using EKF techniques on the linearized kinematic model, the authors of [7] used feedback from a monocular omnidirectional camera system (similar to [1]) to enable wall following, follow-the-leader, and position regulation tasks.…”

Section: Introductionmentioning

confidence: 99%

Homography-based visual servo tracking control of a wheeled mobile robot

Chen

Dixon

Dawson

et al.

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

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A visual servo tracking controller is developed in this paper for a monocular camera system mounted on an underactuated wheeled mobile robot (WMR) subject to nonholonomic motion constraints (i.e., the camera-in-hand problem). A prerecorded image sequence (e.g., a video) of three target points is used to define a desired trajectory for the WMR. By comparing the target points from the prerecorded sequence with the corresponding target points in the live image, projective geometric relationships are exploited to construct a Euclidean homography. The information obtained by decomposing the Euclidean homography is used to develop a kinematic controller. A Lyapunovbased analysis is used to develop an adaptive update law to actively compensate for the lack of depth information required for the translation error system.

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Localization of a mobile robot using images of a moving target

Cited by 39 publications

References 6 publications

Networked Sensor - Aided Tracking of Walking Human in Robotic Space

Networked Sensor - Aided Tracking of Walking Human in Robotic Space

Visual Servo Tracking Control of a Wheeled Mobile Robot with a Monocular Fixed Camera

Homography-based visual servo tracking control of a wheeled mobile robot

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