옴니 카메라의 전방향 영상을 이용한 이동 로봇의 위치 인식 시스템
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김종록 | - |
dc.contributor.author | 임미섭 | - |
dc.contributor.author | 임준홍 | - |
dc.date.accessioned | 2021-06-23T12:02:01Z | - |
dc.date.available | 2021-06-23T12:02:01Z | - |
dc.date.issued | 2011-03 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.issn | 2233-4335 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/39003 | - |
dc.description.abstract | Vision-based robot localization is challenging due to the vast amount of visual information available, requiring extensive storage and processing time. To deal with these challenges, we propose the use of features extracted from omni-directional panoramic images and present a method for localization of a mobile robot equipped with an omni-directional camera. The core of the proposed scheme may be summarized as follows : First, we utilize an omni-directional camera which can capture instantaneous 360° panoramic images around a robot. Second, Nodes around the robot are extracted by the correlation coefficients of Circular Horizontal Line between the landmark and the current captured image. Third, the robot position is determined from the locations by the proposed correlation-based landmark image matching. To accelerate computations, we have assigned the node candidates using color information and the correlation values are calculated based on Fast Fourier Transforms. Experiments show that the proposed method is effective in global localization of mobile robots and robust to lighting variations. | - |
dc.format.extent | 5 | - |
dc.language | 한국어 | - |
dc.language.iso | KOR | - |
dc.publisher | 제어·로봇·시스템학회 | - |
dc.title | 옴니 카메라의 전방향 영상을 이용한 이동 로봇의 위치 인식 시스템 | - |
dc.title.alternative | Omni Camera Vision-Based Localization for Mobile Robots Navigation Using Omni-Directional Images | - |
dc.type | Article | - |
dc.publisher.location | 대한민국 | - |
dc.identifier.doi | 10.5302/J.ICROS.2011.17.3.206 | - |
dc.identifier.scopusid | 2-s2.0-84861178772 | - |
dc.identifier.bibliographicCitation | 제어.로봇.시스템학회 논문지, v.17, no.3, pp 206 - 210 | - |
dc.citation.title | 제어.로봇.시스템학회 논문지 | - |
dc.citation.volume | 17 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 206 | - |
dc.citation.endPage | 210 | - |
dc.identifier.kciid | ART001531738 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | omni-directional camera | - |
dc.subject.keywordAuthor | panoramic images | - |
dc.subject.keywordAuthor | localization | - |
dc.subject.keywordAuthor | mobile robots | - |
dc.identifier.url | http://koreascience.or.kr/article/JAKO201127250029274.page | - |
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