Mobile Robot Localization Using Optical Mouse Sensor and Encoder Based on Kalman Filter Algorithm

Park, X. Sang-Hyung; Yi, Soo-Yeong

doi:10.14257/ijca.2017.10.6.07

Cited by 1 publication

(2 citation statements)

References 7 publications

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“…Good performance of proposed method in terms of heading estimation is observable as well. Specifically, the heading RMSE value is far lower than the one of [13] whereas, the final heading errors of our method look very similar to the other works. To summarize, it can be stated that a final positioning percentage error of 0.21% on an average distance of 17.2 m is achieved.…”

Section: Discussion Of Resultssupporting

confidence: 82%

“…The fusion of data from these sensor units helps to reduce the height variation errors. In [13], three optical mouse sensors placed under the robot according to a triangular-geometry configuration, have been combined with an encoder sensor of driving wheels in a Kalman filter-based framework for providing the positioning information and limiting both systematic and non-systematic errors.…”

Section: Related Workmentioning

confidence: 99%

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A Vision-Based Odometer for Localization of Omnidirectional Indoor Robots

Patruno

Colella

Nitti

et al. 2020

Sensors

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In this paper we tackle the problem of indoor robot localization by using a vision-based approach. Specifically, we propose a visual odometer able to give back the relative pose of an omnidirectional automatic guided vehicle (AGV) that moves inside an indoor industrial environment. A monocular downward-looking camera having the optical axis nearly perpendicular to the ground floor, is used for collecting floor images. After a preliminary analysis of images aimed at detecting robust point features (keypoints) takes place, specific descriptors associated to the keypoints enable to match the detected points to their consecutive frames. A robust correspondence feature filter based on statistical and geometrical information is devised for rejecting those incorrect matchings, thus delivering better pose estimations. A camera pose compensation is further introduced for ensuring better positioning accuracy. The effectiveness of proposed methodology has been proven through several experiments, in laboratory as well as in an industrial setting. Both quantitative and qualitative evaluations have been made. Outcomes have shown that the method provides a final positioning percentage error of 0.21% on an average distance of 17.2 m. A longer run in an industrial context has provided comparable results (a percentage error of 0.94% after about 80 m). The average relative positioning error is about 3%, which is still in good agreement with current state of the art.

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Section: Discussion Of Resultssupporting

confidence: 82%

Section: Related Workmentioning

confidence: 99%