Top > JACIII > Position Uncertainty Reduction of Mobile Robot Based on DINDs ...

single-jc.php

JACIII Vol.12 No.6 pp. 488-493
doi: 10.20965/jaciii.2008.p0488
(2008)

Paper:

Views over last 60 days: 554

Position Uncertainty Reduction of Mobile Robot Based on DINDs in Intelligent Space

TaeSeok Jin* and Hideki Hashimoto**

*Dept. of Mechatronics eng, DongSeo University, Churye 2dong, Sasang-Gu, Korea

**IIS, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan

Received:
June 10, 2008
Accepted:
August 21, 2008
Published:
November 20, 2008
Creative Commons License
Keywords:
mobile robot, tracking, intelligent space, distributed sensors, uncertainty
Abstract
This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace). This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a-priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot.
Cite this article as:
T. Jin and H. Hashimoto, “Position Uncertainty Reduction of Mobile Robot Based on DINDs in Intelligent Space,” J. Adv. Comput. Intell. Intell. Inform., Vol.12 No.6, pp. 488-493, 2008.
Data files:
References
  1. [1]
    L. Moreno and E. Dapena, “Path quality measure for sensor-based motion planning,” Robotics and Autonomous Systems, Vol.44, pp. 131-150, 2003.
    B. Bouilly and T. Siméon, “A sensor-based motion planner for mobile robot navigation with uncertainty,” in Proc. of the Int. Workshop on RUR'95, Springer, Berlin, 1996, pp. 235-247.
    M. Betke and L. Gurvits, “Mobile Robot Localization Using Landmarks,” Proc. of the IEEE/RSJ/GI Int. Conf. on Intelligent Robots and Systems, 1994, pp. 135-142.
    D. J. Kriegman, E. Triendl, and T. O. Binford, “Stereo vision and navigation in buildings for mobile robots,” IEEE Trans. Robotics and Automation, Vol.5, No.6, pp. 792-803, 1989.
    J.-H. Lee, G. Appenzeller, and H. Hashimoto, “An agent for intelligent spaces: Functions and roles of mobile robots in sensored, networked, thinking spaces,” in Proc. IEEE Conf. Intelligent Transportation Systems, Boston, MA, 1997, pp. 983-988.
    Y. Nakamura, “Advanced Robotics: Redundancy and Optimization,” Addison-Wesley, 1991.
    R. M. Haralick and L. G. Shapiro, “Computer and Robot Vision,” Addison-Wesley, 1993.
    N. Ayache and O. D. Faugeras, “Maintaining Representations of the Environment of a Mobile Robot,” IEEE Trans. Robotics and Automation, Vol.5, No.6, Dec. 1989.
    R. E. Kalman, “New Approach to Linear Filtering and Prediction Problems,” Trans. ASME, J. Basic Eng., Series 82D, pp. 35-45, Mar. 1960.
    H. W. Sorenson, “Kalman Filtering Techniques,” Advances in Control Systems Theory and Applications, Vol.3, pp. 219-292, 1966.
    M. Y. Han, B. K. Kim, K. H. Kim, and J. M. Lee, “Active Calibration of the Robot/Camera Pose Using the Circular Objects,” in Korean, Transactions on Control, Automation and Systems Engineering, Vol.5, No.3, pp. 314-323, Apr. 1999.
    T. Akiyama, J.-H. Lee, and H. Hashimoto, “Evaluation of CCD camera arrangement for positioning system in intelligent space,” in Proc. Seventh Int. Symp. Artificial Life and Robotics (AROB'02), 2002, pp. 310-315.
    A. Adam, E. Rivlin, and I. Shimshoni, “Computing the Sensory Uncertainty Field of a Vision-based Localization Sensor,” Proc. of the 2000 IEEE Int. Conf. on Robotics & Automation, Apr. 2000, pp. 2993-2999.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Apr. 22, 2024