Position estimation for a mobile robot using vision and odometry
نویسندگان
چکیده
In this paper, we describe a method for locating a mobile robot moving in a known environment. This technique combines position estimation from odometry with observations of the environment from a mobile camera. Fixed objects in the world provide landmarks which are listed in a data base. The system calculates the angle to each landmark and then orients the camera. An extended Kalman jilter is used to correct the position and orientation of the vehicle from the error between the observed and estimated angle to each landmark. Results from experiments in a real environment are presented.
منابع مشابه
Reduction of Odometry Error in a two Wheeled Differential Drive Robot (TECHNICAL NOTE)
Pose estimation is one of the vital issues in mobile robot navigation. Odometry data can be fused with absolute position measurements to provide better and more reliable pose estimation. This paper deals with the determination of better relative localization of a two wheeled differential drive robot by means of odometry by considering the influence of parameters namely weight, velocity, wheel p...
متن کاملInvestigation on the Effect of Different Parameters in Wheeled Mobile Robot Error (TECHNICAL NOTE)
This article has focused on evaluation and identification of effective parameters in positioning performance with an odometry approach of an omni-directional mobile robot. Although there has been research in this field, but in this paper, a new approach has been proposed for mobile robot in positioning performance. With respect to experimental investigations of different parameters in omni-dire...
متن کاملPosition Estimation for a Mobile Robot using Data Fusion
This paper describes a position estimation tecnique based on the fusion of data obtained by two independent subsystems in a mobile robot navigation context. The rst subsystem is a self-location one composed of an onboard camera, an onboard image processing unit and artiicial landmarks; the second one is a dead-reckoning subsystem based on odometry. The robot navigation system integrates the pos...
متن کاملA New Approach to Self-Localization for Mobile Robots Using Sensor Data Fusion
This paper proposes a new approach for calibration of dead reckoning process. Using the well-known UMBmark (University of Michigan Benchmark) is not sufficient for a desirable calibration of dead reckoning. Besides, existing calibration methods usually require explicit measurement of actual motion of the robot. Some recent methods use the smart encoder trailer or long range finder sensors such ...
متن کاملMobile Robot Navigation Error Handling Using an Extended Kalman Filter
Obviously navigation is one of the most complicated issues in mobile robots. Intelligent algorithms are often used for error handling in robot navigation. This Paper deals with the problem of Inertial Measurement Unit (IMU) error handling by using Extended Kalman Filter (EKF) as an Expert Algorithms. Our focus is put on the field of mobile robot navigation in the 2D environments. The main chall...
متن کامل