Extrinsic calibration of complex machine vision system for mobile robot

IF 2.2 3区工程技术 Q3 COMPUTER SCIENCE, HARDWARE & ARCHITECTURE

Integration-The Vlsi Journal Pub Date : 2025-01-31 DOI:10.1016/j.vlsi.2025.102370

Ruben Alaniz-Plata , Fernando Lopez-Medina , Oleg Sergiyenko , Wendy Flores-Fuentes , Julio C. Rodríguez-Quiñonez , Cesar Sepulveda-Valdez , José A. Núñez-López , David Meza-García , José Fabián Villa-Manríquez , Humberto Andrade-Collazo , Vera Tyrsa

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引用次数: 0

Abstract

Autonomous mobile robots are essential in industry, logistics, and service applications, such as infrastructure inspection, where navigation in dark and narrow environments is one of the most challenging tasks. This project presents the design and development of a patented artificial vision system for a mobile robot, which combines a high-precision laser scanner and a stereo-vision system. The objective is to enhance the robot’s surface scanning capabilities in complex environments. The proposed methodology allows to determine the relative position between systems to integrate data of the laser scanner with stereo-vision cameras and inertial sensors, providing robust and accurate environmental perception that enables the characterization of ventilation ducts surface. Experimental results show a mean correspondence error of

7.4515 mm

in absolute terms for the combined data.

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来源期刊

Integration-The Vlsi Journal 工程技术-工程：电子与电气

CiteScore

3.80

自引率

5.30%

发文量

107

审稿时长

6 months

期刊介绍： Integration''s aim is to cover every aspect of the VLSI area, with an emphasis on cross-fertilization between various fields of science, and the design, verification, test and applications of integrated circuits and systems, as well as closely related topics in process and device technologies. Individual issues will feature peer-reviewed tutorials and articles as well as reviews of recent publications. The intended coverage of the journal can be assessed by examining the following (non-exclusive) list of topics: Specification methods and languages; Analog/Digital Integrated Circuits and Systems; VLSI architectures; Algorithms, methods and tools for modeling, simulation, synthesis and verification of integrated circuits and systems of any complexity; Embedded systems; High-level synthesis for VLSI systems; Logic synthesis and finite automata; Testing, design-for-test and test generation algorithms; Physical design; Formal verification; Algorithms implemented in VLSI systems; Systems engineering; Heterogeneous systems.