Vision and laser sensor data fusion technique for target approaching by outdoor mobile robot

Vision systems are widely used on mobile robot systems. When the mobile robot travels on a bumpy road, a fixed camera cannot track object stably. Specifically, when the mobile robot is searching and/or rescuing in a valley or a dried river bed, how to achieve stable image tracking is a very important issue. This paper devotes to develop a stabilization control scheme for a mobile robot system running on different road profiles and rough terrain while aiming at a target. Firstly, the image recognition algorithm and the outer-loop PI controller for a two-axis camera system have been developed. A simulation system composed of two-axis camera system as well as 3-DOF rotating platform has been set up to imitate a physical dynamic of a mobile robot system. In addition, we have succeeded in building up a three-axis to two-axis ANFIS transformation scheme from a data set of measurements. For demonstrating the method, the data obtained from a measurement of a physical road profile and rough terrain that a vehicle experienced is fed to the system. The targeting error of the two-axis camera targeting at the object under the disturbance of road profile and rough terrain is in a circular region with diameter 20 cm, and is within an acceptable range.

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“…In this case, the pitch and yaw angles of the twoaxis camera system are obtain by (6) and (7). The aiming trajectories are shown in Fig.…”

Section: Control Resultsmentioning

confidence: 99%

“…The vision system can not only track suspicious targets but also display the real-time image for observation. In [5] and [6], the vision sensors are used for mobile robots outdoor navigation. There are other researchers used vision systems for object tracking, obstacle avoidance or patrolling.…”

Section: Introductionmentioning

confidence: 99%

ANFIS-based aided stabilization control and image tracking for mobile robot

Hsia

Lien

et al. 2012

2012 International Conference on Fuzzy Theory and Its Applications (iFUZZY2012)

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“…To acquire this perpendicular trajectory, we used a dual sensor fusion technique [16] whereby data from the camera and LRS are fused to generate the path. Basically, the technique involves first getting the approximate location of a button box using vision, then using approximate location to acquire a high precision location from the LRS.…”

Section: B 2 Navigation Towards Button Box Using Vision and Lrsmentioning

confidence: 99%

“…We reported in [16] that the robot approaches the button box with high precision due to the fact that the perpendicular trajectory is constantly being updated as the robot moves nearer and secondly, the accuracy of the LRS also improves as the distance reduces. According to [18], the URG-04LX has an error of ±2% at distances of 4m but reduces to ±10mm at 1m.…”

Section: Button Activation With Simple Fingermentioning

confidence: 99%

Design of an intelligent outdoor mobile robot with autonomous road-crossing function for urban environments

Chand

Yuta

2012

2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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This paper describes the total system design and implementation of an outdoor mobile robot with an autonomous road-crossing function intended for urban environments. The developed robot is capable of navigating along sidewalks while simultaneously detecting pedestrian push-button boxes. If a button box is detected, the robot can autonomously traverse up to it with high precision and activate the push button with a finger. Next, it approaches the crossing zone, detects the zebra stripes and perceives the trajectory required to cross. Upon detecting a green signal, the robot then finally crosses the road to reach the opposite side of the road and continue to its intended destination. We tested the robot in a real and unmodified outdoor environment and obtained promising results. More application-oriented, the novelty of this work is that not only is the robot capable of crossing roads autonomously, it can also autonomously activate pedestrian push buttons in a real world outdoor environment; there are not many robots that can perform such an action in an outdoor environment.

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“…2D laser rangefinder and camera is combined successfully on ground robots. Pedestrian detection system was developed based on particle filter which fused data from laser and camera [8], also the same combination of sensor was developed for target approaching detection [9] on ground robots. Comparing with ground robot, the main challenge for quadrotor target localization is, as illustrated at the beginning, the destined unstable flight dynamics and absence of accurate odometry, not to mention quadrotor flies in 3D space with 6 degrees of freedoms.…”

Section: Introductionmentioning

confidence: 99%

Autonomous target localization using quadrotor

Hou¹,

Yu²

2014

The 26th Chinese Control and Decision Conference (2014 CCDC)

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In this paper, autonomous target localization is achieved on quadrotor helicopter, with the use of 2D laser rangefinder and fixed monocular camera. Color-featured target is located in 3D space without prior knowledge of its size or shape. Coordinate systems of camera and laser rangefinder are integrated to establish body-fixed reference coordinate system for both localization and flight control. Rotation compensation algorithm is developed to neutralize the errors introduced by the changes of attitude angles during the flight. With this feature, quadrotor can obtain the real world coordinates of target from one single frame of camera once the target is captured and identified, without the requirement of keeping orientated towards the target all the time. The relative position between quadrotor and target is updated every time the target is located. Indoor experiments are conducted with Asctec Pelican quadrotor to demonstrate the performance of the proposed localization approach.

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Vision and laser sensor data fusion technique for target approaching by outdoor mobile robot

Cited by 8 publications

References 5 publications

ANFIS-based aided stabilization control and image tracking for mobile robot

ANFIS-based aided stabilization control and image tracking for mobile robot

Design of an intelligent outdoor mobile robot with autonomous road-crossing function for urban environments

Autonomous target localization using quadrotor

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