A visual positioning method based on relative orientation detection for mobile robots

De Xu; Youfu Li; Min Tan

doi:10.1109/IROS.2006.281883

A visual positioning method based on relative orientation detection for mobile robots

De Xu
, Youfu Li
, Min Tan

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

4 Citations (Scopus)

Abstract

In this paper, a new visual positioning method based on corresponding points at two adjacent views is developed for mobile robots. A camera is mounted on a wheeled mobile robot with non-holonomic constraints. The camera whose intrinsic parameters are well calibrated can rotate around an axis perpendicular to the ground plane. The relative orientation and scaled position offsets of the mobile robot are computed from the corresponding points in the common part of the views despite their unknown positions in Cartesian space. The relative orientation is used in a simple visual dead reckoning method to modify the odometry information. Then, based on the relative orientation and modified odometry information, equations are given to determine the position and orientation of the mobile robot. Experiments are performed to verify the effectiveness of the proposed methods. ©2006 IEEE.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Pages	1243-1248
DOIs	https://doi.org/10.1109/IROS.2006.281883
Publication status	Published - 2006
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 9 Oct 2006 → 15 Oct 2006 https://ieeexplore.ieee.org/xpl/conhome/4058334/proceeding

Conference

Conference	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Place	China
City	Beijing
Period	9/10/06 → 15/10/06
Internet address	https://ieeexplore.ieee.org/xpl/conhome/4058334/proceeding

Research Keywords

Mobile robot
Self-localization
Visual dead reckoning
Visual positioning

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10.1109/IROS.2006.281883

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title = "A visual positioning method based on relative orientation detection for mobile robots",

abstract = "In this paper, a new visual positioning method based on corresponding points at two adjacent views is developed for mobile robots. A camera is mounted on a wheeled mobile robot with non-holonomic constraints. The camera whose intrinsic parameters are well calibrated can rotate around an axis perpendicular to the ground plane. The relative orientation and scaled position offsets of the mobile robot are computed from the corresponding points in the common part of the views despite their unknown positions in Cartesian space. The relative orientation is used in a simple visual dead reckoning method to modify the odometry information. Then, based on the relative orientation and modified odometry information, equations are given to determine the position and orientation of the mobile robot. Experiments are performed to verify the effectiveness of the proposed methods. {\textcopyright}2006 IEEE.",

keywords = "Mobile robot, Self-localization, Visual dead reckoning, Visual positioning",

author = "De Xu and Youfu Li and Min Tan",

year = "2006",

doi = "10.1109/IROS.2006.281883",

language = "English",

isbn = "142440259",

pages = "1243--1248",

booktitle = "IEEE International Conference on Intelligent Robots and Systems",

note = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 ; Conference date: 09-10-2006 Through 15-10-2006",

url = "https://ieeexplore.ieee.org/xpl/conhome/4058334/proceeding",

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TY - GEN

T1 - A visual positioning method based on relative orientation detection for mobile robots

AU - Xu, De

AU - Li, Youfu

AU - Tan, Min

PY - 2006

Y1 - 2006

N2 - In this paper, a new visual positioning method based on corresponding points at two adjacent views is developed for mobile robots. A camera is mounted on a wheeled mobile robot with non-holonomic constraints. The camera whose intrinsic parameters are well calibrated can rotate around an axis perpendicular to the ground plane. The relative orientation and scaled position offsets of the mobile robot are computed from the corresponding points in the common part of the views despite their unknown positions in Cartesian space. The relative orientation is used in a simple visual dead reckoning method to modify the odometry information. Then, based on the relative orientation and modified odometry information, equations are given to determine the position and orientation of the mobile robot. Experiments are performed to verify the effectiveness of the proposed methods. ©2006 IEEE.

AB - In this paper, a new visual positioning method based on corresponding points at two adjacent views is developed for mobile robots. A camera is mounted on a wheeled mobile robot with non-holonomic constraints. The camera whose intrinsic parameters are well calibrated can rotate around an axis perpendicular to the ground plane. The relative orientation and scaled position offsets of the mobile robot are computed from the corresponding points in the common part of the views despite their unknown positions in Cartesian space. The relative orientation is used in a simple visual dead reckoning method to modify the odometry information. Then, based on the relative orientation and modified odometry information, equations are given to determine the position and orientation of the mobile robot. Experiments are performed to verify the effectiveness of the proposed methods. ©2006 IEEE.

KW - Mobile robot

KW - Self-localization

KW - Visual dead reckoning

KW - Visual positioning

UR - https://www.scopus.com/pages/publications/34250632339

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-34250632339&origin=recordpage

U2 - 10.1109/IROS.2006.281883

DO - 10.1109/IROS.2006.281883

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 142440259

SN - 9781424402595

SP - 1243

EP - 1248

BT - IEEE International Conference on Intelligent Robots and Systems

T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006

Y2 - 9 October 2006 through 15 October 2006

ER -

A visual positioning method based on relative orientation detection for mobile robots

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