TY - GEN
T1 - A low-cost localization system based on artificial landmarks with two degree of freedom platform camera
AU - Chen, Diansheng
AU - Peng, Zhaoliang
AU - Ling, Xiao
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/20
Y1 - 2014/4/20
N2 - Robot localization is one of the hottest research spots. Many scholars have studied the landmark localization which is cheap, stable, and simple in the indoor environment. This paper presents a low-cost localization system based on the artificial landmarks with two degree of freedom platform camera. The landmarks are put on the ceiling in order to decrease the interference. A 2-DOF pan-tilt has been used to help the camera track landmarks so that the landmark velocity in the picture is low enough to avoid that the robot can't recognize landmarks because of the high speed. Using the pan-tilt can also expand the recognition range and decrease the number of landmarks. The experiments have shown that the robot can recognize landmarks well when it moves fast by using the 2-DOF pan-tilt, besides, the localization works very well.
AB - Robot localization is one of the hottest research spots. Many scholars have studied the landmark localization which is cheap, stable, and simple in the indoor environment. This paper presents a low-cost localization system based on the artificial landmarks with two degree of freedom platform camera. The landmarks are put on the ceiling in order to decrease the interference. A 2-DOF pan-tilt has been used to help the camera track landmarks so that the landmark velocity in the picture is low enough to avoid that the robot can't recognize landmarks because of the high speed. Using the pan-tilt can also expand the recognition range and decrease the number of landmarks. The experiments have shown that the robot can recognize landmarks well when it moves fast by using the 2-DOF pan-tilt, besides, the localization works very well.
KW - Artificial Landmarks
KW - Aruco
KW - Low-cost Localization
KW - Two Degree of Freedom Platform Camera
UR - https://www.scopus.com/pages/publications/84949928216
U2 - 10.1109/ROBIO.2014.7090400
DO - 10.1109/ROBIO.2014.7090400
M3 - 会议稿件
AN - SCOPUS:84949928216
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 625
EP - 630
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -