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Shi H, Li X, Pan W, Hwang KS, Li Z. A novel fuzzy three-dimensional grid navigation method for mobile robots. INT J ADV ROBOT SYST 2017. [DOI: 10.1177/1729881417710444] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022] Open
Affiliation(s)
- Haobin Shi
- School of Computer Science, Northwestern Polytechnical University, Shaanxi, China
| | - Xuesi Li
- School of Computer Science, Northwestern Polytechnical University, Shaanxi, China
| | - Wei Pan
- School of Computer Science, Northwestern Polytechnical University, Shaanxi, China
| | - Kao-Shing Hwang
- Department of Electrical Engineering, National Sun Yat-sen University, Kaohsiung, Taiwan
| | - Zhixin Li
- School of Computer Science, Northwestern Polytechnical University, Shaanxi, China
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Lamberti F, Sanna A, Paravati G, Montuschi P, Gatteschi V, Demartini C. Mixed Marker-Based/Marker-Less Visual Odometry System for Mobile Robots. INT J ADV ROBOT SYST 2013. [DOI: 10.5772/56577] [Citation(s) in RCA: 9] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
Abstract When moving in generic indoor environments, robotic platforms generally rely solely on information provided by onboard sensors to determine their position and orientation. However, the lack of absolute references often leads to the introduction of severe drifts in estimates computed, making autonomous operations really hard to accomplish. This paper proposes a solution to alleviate the impact of the above issues by combining two vision-based pose estimation techniques working on relative and absolute coordinate systems, respectively. In particular, the unknown ground features in the images that are captured by the vertical camera of a mobile platform are processed by a vision-based odometry algorithm, which is capable of estimating the relative frame-to-frame movements. Then, errors accumulated in the above step are corrected using artificial markers displaced at known positions in the environment. The markers are framed from time to time, which allows the robot to maintain the drifts bounded by additionally providing it with the navigation commands needed for autonomous flight. Accuracy and robustness of the designed technique are demonstrated using an off-the-shelf quadrotor via extensive experimental tests.
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Affiliation(s)
- Fabrizio Lamberti
- Politecnico di Torino, Dipartimento di Automatica e Informatica, Torino, Italy
| | - Andrea Sanna
- Politecnico di Torino, Dipartimento di Automatica e Informatica, Torino, Italy
| | - Gianluca Paravati
- Politecnico di Torino, Dipartimento di Automatica e Informatica, Torino, Italy
| | - Paolo Montuschi
- Politecnico di Torino, Dipartimento di Automatica e Informatica, Torino, Italy
| | - Valentina Gatteschi
- Politecnico di Torino, Dipartimento di Automatica e Informatica, Torino, Italy
| | - Claudio Demartini
- Politecnico di Torino, Dipartimento di Automatica e Informatica, Torino, Italy
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