Real Time Indoor Robot Localization Using a Stationary Fisheye Camera - Artificial Intelligence Applications and Innovations Access content directly
Conference Papers Year : 2013

Real Time Indoor Robot Localization Using a Stationary Fisheye Camera

Konstantinos K. Delibasis
  • Function : Author
  • PersonId : 992475
Vasilios P. Plagianakos
  • Function : Author
  • PersonId : 1000611
Ilias Maglogiannis
  • Function : Author
  • PersonId : 991053

Abstract

A core problem in robotics is the localization of a mobile robot (determination of the location or pose) in its environment, since the robot’s behavior depends on its position. In this work, we propose the use of a stationary fisheye camera for real time robot localization in indoor environments. We employ an image formation model for the fisheye camera, which is used for accelerating the segmentation of the robot’s top surface, as well as for calculating the robot’s true position in the real world frame of reference. The proposed robot localization algorithm does not depend on any information from the robot’s sensors and does not require visual landmarks in the indoor environment. Initial results are presented from video sequences and are compared to the ground truth position, obtained by the robot’s sensors. The dependence of the average positional error with the distance from the camera is also measured.
Fichier principal
Vignette du fichier
978-3-642-41142-7_25_Chapter.pdf (1.2 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01459616 , version 1 (07-02-2017)

Licence

Attribution

Identifiers

Cite

Konstantinos K. Delibasis, Vasilios P. Plagianakos, Ilias Maglogiannis. Real Time Indoor Robot Localization Using a Stationary Fisheye Camera. 9th Artificial Intelligence Applications and Innovations (AIAI), Sep 2013, Paphos, Greece. pp.245-254, ⟨10.1007/978-3-642-41142-7_25⟩. ⟨hal-01459616⟩
79 View
433 Download

Altmetric

Share

Gmail Facebook X LinkedIn More