Visual correction of orientation error for a mobile robot

Sherman Lang; Fu Yili; S. K. Tso

doi:10.1109/iros.1999.811664

Visual correction of orientation error for a mobile robot

Sherman Lang
, Fu Yili
, S. K. Tso

City University of Hong Kong

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

1 Citation (Scopus)

Abstract

A mobile robot operating in a real world environment rarely achieves the theoretical accuracy in positioning that is possible despite the use of precise manufacturing and high resolution encoders in drive motors. This is due to internal errors to a small degree, but mainly caused by minor variations in floor flatness. A vision system is developed and implemented for a mobile robot to correct orientation errors. Straight line ceiling features are used for reference orientation during navigation. An efficient and robust algorithm is developed, tested extensively and implemented in a mobile robot for actual navigation experiments. Preliminary experimental results show that simple visual servoing with proportional control can already achieve significant improvements.
© 1999 IEEE

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	1328-1333
Volume	3
DOIs	https://doi.org/10.1109/iros.1999.811664
Publication status	Published - 1999
Event	1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Hyundai Hotel, Kyongju, Korea, Republic of Duration: 17 Oct 1999 → 21 Oct 1999 https://ieeexplore.ieee.org/xpl/conhome/6568/proceeding

Conference

Conference	1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
Place	Korea, Republic of
City	Kyongju
Period	17/10/99 → 21/10/99
Internet address	https://ieeexplore.ieee.org/xpl/conhome/6568/proceeding

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Access Output

10.1109/iros.1999.811664

Other Access Options

Check CityUHK Library

Permanent Link

Right click to copy link

Cite this

@inproceedings{64b846882f354adbb61039c468b5845b,

title = "Visual correction of orientation error for a mobile robot",

abstract = "A mobile robot operating in a real world environment rarely achieves the theoretical accuracy in positioning that is possible despite the use of precise manufacturing and high resolution encoders in drive motors. This is due to internal errors to a small degree, but mainly caused by minor variations in floor flatness. A vision system is developed and implemented for a mobile robot to correct orientation errors. Straight line ceiling features are used for reference orientation during navigation. An efficient and robust algorithm is developed, tested extensively and implemented in a mobile robot for actual navigation experiments. Preliminary experimental results show that simple visual servoing with proportional control can already achieve significant improvements. {\textcopyright} 1999 IEEE",

author = "Sherman Lang and Fu Yili and Tso, \{S. K.\}",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' ; Conference date: 17-10-1999 Through 21-10-1999",

year = "1999",

doi = "10.1109/iros.1999.811664",

language = "English",

volume = "3",

pages = "1328--1333",

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

publisher = "IEEE",

address = "United States",

url = "https://ieeexplore.ieee.org/xpl/conhome/6568/proceeding",

}

Lang, S, Yili, F & Tso, SK 1999, Visual correction of orientation error for a mobile robot. in IEEE International Conference on Intelligent Robots and Systems. vol. 3, IEEE, pp. 1328-1333, 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, Korea, Republic of, 17/10/99. https://doi.org/10.1109/iros.1999.811664

TY - GEN

T1 - Visual correction of orientation error for a mobile robot

AU - Lang, Sherman

AU - Yili, Fu

AU - Tso, S. K.

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 1999

Y1 - 1999

N2 - A mobile robot operating in a real world environment rarely achieves the theoretical accuracy in positioning that is possible despite the use of precise manufacturing and high resolution encoders in drive motors. This is due to internal errors to a small degree, but mainly caused by minor variations in floor flatness. A vision system is developed and implemented for a mobile robot to correct orientation errors. Straight line ceiling features are used for reference orientation during navigation. An efficient and robust algorithm is developed, tested extensively and implemented in a mobile robot for actual navigation experiments. Preliminary experimental results show that simple visual servoing with proportional control can already achieve significant improvements. © 1999 IEEE

AB - A mobile robot operating in a real world environment rarely achieves the theoretical accuracy in positioning that is possible despite the use of precise manufacturing and high resolution encoders in drive motors. This is due to internal errors to a small degree, but mainly caused by minor variations in floor flatness. A vision system is developed and implemented for a mobile robot to correct orientation errors. Straight line ceiling features are used for reference orientation during navigation. An efficient and robust algorithm is developed, tested extensively and implemented in a mobile robot for actual navigation experiments. Preliminary experimental results show that simple visual servoing with proportional control can already achieve significant improvements. © 1999 IEEE

UR - https://www.scopus.com/pages/publications/0033310883

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0033310883&origin=recordpage

U2 - 10.1109/iros.1999.811664

DO - 10.1109/iros.1999.811664

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

VL - 3

SP - 1328

EP - 1333

BT - IEEE International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'

Y2 - 17 October 1999 through 21 October 1999

ER -

Visual correction of orientation error for a mobile robot

Abstract

Conference

Bibliographical note

UN SDGs

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Cite this