Multiple Robots Localization Using Large Planar Camera Array For Automated Guided Vehicle System
Vision based localization techniques in an in- telligent environments have been well studied.But it still faces several dif .culties,such as limited surveillance area,low response speed,relative high computation cost and so on.In this work,we create a large planar camera array which extremely extends the scope of surveillance area,and more precisely localizes robots with high response speed for AGV system. In this camera array system,color based tracking algorithm ef .ciently performs the task of localizing and identifying robots. A hybrid tracking algorithm intelligently controls the camera array and signi .cantly reduces the redundancy of image data to be processed.Therefore,the whole camera array can be controlled by one normal PC rather than the expensive and powerful computer cluster or embedding the micro-processor into cameras.The system also can automatically re-calibrate cameras if the pose of camera changes during an accident. Experiments show the camera array consisting of 15 cameras can localize 5 robots with 20Hz-60Hz.
Xuefeng Liang Tetsuo Tomizawa Hyun Min Do Yong-Shik Kim Kenichi Ohara Bong Keun Kim Tamio Tanikawa Kohtaro Ohba
Ubiquitous Functions Research Group,ISRI National Institute of Advanced Industrial Science and Technology Tsukuba,Ibaraki 305-8568,Japan.
国际会议
2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)
张家界
英文
984-990
2008-06-20（万方平台首次上网日期，不代表论文的发表时间）