移动机器人复杂机器视觉系统的外部标定

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

{"title":"移动机器人复杂机器视觉系统的外部标定","authors":"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","doi":"10.1016/j.vlsi.2025.102370","DOIUrl":null,"url":null,"abstract":"<div><div>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 <span><math><mrow><mn>7</mn><mo>.</mo><mn>4515</mn><mspace></mspace><mi>mm</mi></mrow></math></span> in absolute terms for the combined data.</div></div>","PeriodicalId":54973,"journal":{"name":"Integration-The Vlsi Journal","volume":"102 ","pages":"Article 102370"},"PeriodicalIF":2.2000,"publicationDate":"2025-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Extrinsic calibration of complex machine vision system for mobile robot\",\"authors\":\"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\",\"doi\":\"10.1016/j.vlsi.2025.102370\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>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 <span><math><mrow><mn>7</mn><mo>.</mo><mn>4515</mn><mspace></mspace><mi>mm</mi></mrow></math></span> in absolute terms for the combined data.</div></div>\",\"PeriodicalId\":54973,\"journal\":{\"name\":\"Integration-The Vlsi Journal\",\"volume\":\"102 \",\"pages\":\"Article 102370\"},\"PeriodicalIF\":2.2000,\"publicationDate\":\"2025-01-31\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Integration-The Vlsi Journal\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0167926025000276\",\"RegionNum\":3,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"COMPUTER SCIENCE, HARDWARE & ARCHITECTURE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Integration-The Vlsi Journal","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0167926025000276","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"COMPUTER SCIENCE, HARDWARE & ARCHITECTURE","Score":null,"Total":0}

引用次数: 0

摘要

自主移动机器人在工业，物流和服务应用中至关重要，例如基础设施检查，在黑暗和狭窄的环境中导航是最具挑战性的任务之一。本项目提出了一种专利的移动机器人人工视觉系统的设计和开发，该系统结合了高精度激光扫描仪和立体视觉系统。目的是增强机器人在复杂环境中的表面扫描能力。所提出的方法可以确定系统之间的相对位置，将激光扫描仪的数据与立体视觉相机和惯性传感器相结合，提供强大而准确的环境感知，从而能够表征通风管道表面。实验结果表明，组合数据的平均对应误差绝对值为7.4515mm。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Extrinsic calibration of complex machine vision system for mobile robot

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.

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

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.