Full Text:   <4005>

Summary:  <2087>

CLC number: TP242.6

On-line Access: 2024-08-27

Received: 2023-10-17

Revision Accepted: 2024-05-08

Crosschecked: 2016-03-09

Cited: 2

Clicked: 8180

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Xian-feng Yuan

http://orcid.org/0000-0002-6217-6429

-   Go to

Article info.
Open peer comments

Frontiers of Information Technology & Electronic Engineering  2016 Vol.17 No.4 P.365-374

http://doi.org/10.1631/FITEE.1500272


A high precision visual localization sensor and its working methodology for an indoor mobile robot


Author(s):  Feng-yu Zhou, Xian-feng Yuan, Yang Yang, Zhi-fei Jiang, Chen-lei Zhou

Affiliation(s):  School of Control Science and Engineering, Shandong University, Jinan 250061, China; more

Corresponding email(s):   zhoufengyu@sdu.edu.cn, yuanxianfeng_sdu@126.com

Key Words:  Mobile robot, Localization sensor, Visual localization, Infrared-reflective marker, Embedded system


Feng-yu Zhou, Xian-feng Yuan, Yang Yang, Zhi-fei Jiang, Chen-lei Zhou. A high precision visual localization sensor and its working methodology for an indoor mobile robot[J]. Frontiers of Information Technology & Electronic Engineering, 2016, 17(4): 365-374.

@article{title="A high precision visual localization sensor and its working methodology for an indoor mobile robot",
author="Feng-yu Zhou, Xian-feng Yuan, Yang Yang, Zhi-fei Jiang, Chen-lei Zhou",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="17",
number="4",
pages="365-374",
year="2016",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.1500272"
}

%0 Journal Article
%T A high precision visual localization sensor and its working methodology for an indoor mobile robot
%A Feng-yu Zhou
%A Xian-feng Yuan
%A Yang Yang
%A Zhi-fei Jiang
%A Chen-lei Zhou
%J Frontiers of Information Technology & Electronic Engineering
%V 17
%N 4
%P 365-374
%@ 2095-9184
%D 2016
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.1500272

TY - JOUR
T1 - A high precision visual localization sensor and its working methodology for an indoor mobile robot
A1 - Feng-yu Zhou
A1 - Xian-feng Yuan
A1 - Yang Yang
A1 - Zhi-fei Jiang
A1 - Chen-lei Zhou
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 17
IS - 4
SP - 365
EP - 374
%@ 2095-9184
Y1 - 2016
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.1500272


Abstract: 
To overcome the shortcomings of existing robot localization sensors, such as low accuracy and poor robustness, a high precision visual localization system based on infrared-reflective artificial markers is designed and illustrated in detail in this paper. First, the hardware system of the localization sensor is developed. Secondly, we design a novel kind of infrared-reflective artificial marker whose characteristics can be extracted by the acquisition and processing of the infrared image. In addition, a confidence calculation method for marker identification is proposed to obtain the probabilistic localization results. Finally, the autonomous localization of the robot is achieved by calculating the relative pose relation between the robot and the artificial marker based on the perspective-3-point (P3P) visual localization algorithm. Numerous experiments and practical applications show that the designed localization sensor system is immune to the interferences of the illumination and observation angle changes. The precision of the sensor is ±1.94 cm for position localization and ±1.64° for angle localization. Therefore, it satisfies perfectly the requirements of localization precision for an indoor mobile robot.

For autonomous indoor service robots, an embedded visual localization sensor is designed and a dot-matrix infrared-reflective artificial marker is given. Based on the statistical analysis of grey values of the marker dots, this paper provides a calculation method for marker identification. Experimental results show the effectiveness of the visual localization sensor system. The work sounds good.

一种室内移动机器人高精度视觉定位传感器及其工作原理

目的:高精度定位与导航是室内移动机器人高质量完成服务任务的基本前提。但现有的定位传感器大多难以满足服务机器人的室内定位精度要求。为了克服现有的移动机器人定位传感器定位精度低、鲁棒性差的问题,本文设计了一种基于红外反射人工标签的嵌入式视觉定位传感器,并提出了一种新颖的概率型视觉定位方法。
创新点:设计了一种高精度嵌入式视觉定位传感器,提出了一种概率型视觉定位方法。
方法:首先,设计了视觉定位传感器的硬件系统;然后,设计了一种红外反射标签,并给出了红外标签识别及置信度建模的方法;最后,利用P3P定位方法计算出机器人与红外标签的相对位置关系,并进一步解算得到机器人在世界坐标系下的位姿,实现了机器人高精度概率型视觉定位。
结论:通过多组实验证明了所设计的机器人定位传感器受光线及视角影响小,位置定位精度为±1.94 cm,角度定位精度为±1.64°,满足了室内移动机器人的定位精度要求。

关键词:移动机器人;定位传感器;视觉定位;红外标签;嵌入式系统

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

[1]Aleksandrovich, Y.D., Gennadievich, P.G., Stepanovich, K.A., et al., 2013. Mobile robot navigation based on artificial landmarks with machine vision system. World Appl. Sci. J., 24(11):1467-1472.

[2]Her, K.W., Kim, D.H., Ha, J.E., 2012. Localization of mobile robot using laser range finder and IR landmark. Proc. 12th Int. Conf. on Control, Automation and Systems, p.459-461.

[3]Kim, Y., Yoon, W.C., 2014. Generating task-oriented interactions of service robots. IEEE Trans. Syst. Man Cybern., 44(8):981-994.

[4]Kroumov, V., Okuyama, K., 2012. Localisation and position correction for mobile robot using artificial visual landmarks. Int. J. Adv. Mech. Syst., 4(2):112-119.

[5]Lu, W., Xiang, Z., Liu, J., 2015. Design of an enhanced visual odometry by building and matching compressive panoramic landmarks online. Front. Inform. Technol. Electron. Eng., 16(2):152-165.

[6]Lu, Y., Song, D., 2015. Visual navigation using heterogeneous landmarks and unsupervised geometric constraints. IEEE Trans. Robot., 31(3):736-749.

[7]Luo, R.C., Chen, O., 2013. Wireless and pyroelectric sensory fusion system for indoor human/robot localization and monitoring. IEEE/ASME Trans. Mech., 18(3):845-853.

[8]Luo, R.C., Lai, C.C., 2014. Multisensor fusion-based concurrent environment mapping and moving object detection for intelligent service robotics. IEEE Trans. Ind. Electron., 61(8):4043-4051.

[9]Müller, J., Burgard, W., 2013. Efficient probabilistic localization for autonomous indoor airships using sonar, air flow, and IMU sensors. Adv. Robot., 27(9):711-724.

[10]Nakamura, T., Suzuki, S., 2014. Simplified EKF-SLAM by combining laser range sensor with retro reflective markers for use in kindergarten. Int. J. Robot. Mech., 1(1):1-7.

[11]Oh, J.H., Kim, D., Lee, B.H., 2014. An indoor localization system for mobile robots using an active infrared positioning sensor. J. Ind. Intell. Inform., 2(1):35-38. [doi:10.12720/jiii.2.1.35-38

[12]Persson, S.M., Sharf, I., 2014. Sampling-based A algorithm for robot path-planning. Int. J. Robot. Res., 33(13):1683-1708.

[13]Reinstein, M., Hoffmann, M., 2013. Dead reckoning in a dynamic quadruped robot based on multimodal proprioceptive sensory information. IEEE Trans. Robot., 29(2):563-571.

[14]Ren, Y., Ye, A., Lu, T., et al., 2014. A method of self-localization of robot based on infrared landmark. Proc. 11th World Congress on Intelligent Control and Automation, p.5494-5499.

[15]Sultan, M.S., Chen, X., Qadeer, N., et al., 2013. Vision guided path planning system for vehicles using infrared landmark. Proc. IEEE Int. Conf. on Robotics and Biomimetics, p.179-184.

[16]Vynnycky, M., Kanev, K., 2015. Mathematical analysis of the multisolution phenomenon in the P3P problem. J. Math. Imag. Vis., 51(2):326-337.

[17]Wu, H., Tian, G., Duan, P., et al., 2013. The design of a novel artificial label for robot navigation. Proc. Chinese Intelligent Automation Conf., p.479-487.

[18]Xu, D., Tan, M., Li, Y., 2011. Visual Measurement and Control for Robots. National Defense Industry Press, Beijing, China, p.132-136 (in Chinese).

[19]Yu, H.H., Hsieh, H.W., Tasi, Y.K., et al., 2013. Visual localization for mobile robots based on composite map. J. Robot. Mech., 25(1):25-37.

[20]Yuan, X., Song, M., Zhou, F., et al., 2015. A novel Mittag-Leffler kernel based hybrid fault diagnosis method for wheeled robot driving system. Comput. Intell. Neurosci., 2015:606734.1-606734.11.

[21]Zhang, Z., 2000. A flexible new technique for camera calibration. IEEE Trans. Patt. Anal. Mach. Intell., 22(11):1330-1334.

Open peer comments: Debate/Discuss/Question/Opinion

<1>

Please provide your name, email address and a comment





Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou 310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn
Copyright © 2000 - 2024 Journal of Zhejiang University-SCIENCE