Omni-directional Vision for Robot Navigation in Substation Environments

摘要：

This paper presents a new omni-directional vision based navigation system for mobile robots in substation environments for 24h all-weather inspection. It is featured with near infrared illumination, omni-directional imaging, and artificial landmarks recognition. The extended Kalman filter (EKF) is also used to integrate the measurements from vision and odometer. Experiments have also been carried out to verify the functionalities of the system.

关键词： near infrared illumination omni-directional imaging artificial landmarks recognition

作者: Rui Guo Lei Han Xueqi Cheng

作者单位: Electric Power Robotic Laboratory of State Grid Corporation of China,Shandong Electric Power Researc Shandong Electric Power Corporation

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1272-1275

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）