利用MATLAB作为辅助工具对移动机器人进行视觉定位

Shen-Ho Liu, Yin-Tien Wang, C. Hsu, Wei-Yen Wang, Chiang-Heng Chien
{"title":"利用MATLAB作为辅助工具对移动机器人进行视觉定位","authors":"Shen-Ho Liu, Yin-Tien Wang, C. Hsu, Wei-Yen Wang, Chiang-Heng Chien","doi":"10.1109/ISCE.2018.8408908","DOIUrl":null,"url":null,"abstract":"A feature-based visual robot localization algorithm is generally responsible for estimating the robot pose based on features from images using cameras. To address the issues of estimation accuracy and required computational time, an improved visual odometry (VO) system is proposed using direct approach of perspective-3-point (P3P) algorithm as well as map management method. Furthermore, a GUI platform is designed using MATLAB so that performances of the proposed VO system can be easily observed by users. In order to validate the reliability of the proposed system, various experiments are conducted using a binocular camera, where experimental results show that the proposed VO system outperforms conventional algorithms in terms of estimation accuracy and runtime efficiency.","PeriodicalId":114660,"journal":{"name":"2018 International Symposium on Consumer Technologies (ISCT)","volume":"259 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Using MATLAB as auxiliary tool in visual localization for mobile robots\",\"authors\":\"Shen-Ho Liu, Yin-Tien Wang, C. Hsu, Wei-Yen Wang, Chiang-Heng Chien\",\"doi\":\"10.1109/ISCE.2018.8408908\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A feature-based visual robot localization algorithm is generally responsible for estimating the robot pose based on features from images using cameras. To address the issues of estimation accuracy and required computational time, an improved visual odometry (VO) system is proposed using direct approach of perspective-3-point (P3P) algorithm as well as map management method. Furthermore, a GUI platform is designed using MATLAB so that performances of the proposed VO system can be easily observed by users. In order to validate the reliability of the proposed system, various experiments are conducted using a binocular camera, where experimental results show that the proposed VO system outperforms conventional algorithms in terms of estimation accuracy and runtime efficiency.\",\"PeriodicalId\":114660,\"journal\":{\"name\":\"2018 International Symposium on Consumer Technologies (ISCT)\",\"volume\":\"259 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-07-09\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 International Symposium on Consumer Technologies (ISCT)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISCE.2018.8408908\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 International Symposium on Consumer Technologies (ISCT)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISCE.2018.8408908","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

基于特征的视觉机器人定位算法通常负责根据相机图像中的特征估计机器人的姿态。为了解决估计精度和计算时间的问题,提出了一种采用透视-3点(P3P)算法的直接方法和地图管理方法的改进视觉里程计系统。此外,利用MATLAB设计了图形用户界面平台,使用户能够方便地观察系统的性能。为了验证所提系统的可靠性,在双目摄像机上进行了各种实验,实验结果表明,所提VO系统在估计精度和运行效率方面优于传统算法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Using MATLAB as auxiliary tool in visual localization for mobile robots
A feature-based visual robot localization algorithm is generally responsible for estimating the robot pose based on features from images using cameras. To address the issues of estimation accuracy and required computational time, an improved visual odometry (VO) system is proposed using direct approach of perspective-3-point (P3P) algorithm as well as map management method. Furthermore, a GUI platform is designed using MATLAB so that performances of the proposed VO system can be easily observed by users. In order to validate the reliability of the proposed system, various experiments are conducted using a binocular camera, where experimental results show that the proposed VO system outperforms conventional algorithms in terms of estimation accuracy and runtime efficiency.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信