Robot location using vision to recognize artificial landmarks

Joaquin Salas; Jose Luis Gordillo

doi:10.1117/12.189098

13 October 1994 Robot location using vision to recognize artificial landmarks

Joaquin Salas, Jose Luis Gordillo

Author Affiliations +

Proceedings Volume 2354, Intelligent Robots and Computer Vision XIII: 3D Vision, Product Inspection, and Active Vision; (1994) https://doi.org/10.1117/12.189098
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

In this paper we propose a solution for the location of a mobile robot. The approach is based on visual sensing of artificial landmarks scattered across the workspace. The problem of location is divided in two stages: identification and positioning. The identification of the shape consists in its description in terms of statistical invariants, the comparison of these descriptors with known classes, and its assignation to the nearest pattern known. The positioning is solved in three steps: first, the transformation of the shape in the image plane is recovered using the change of the statistical moments; second, the 3D orientation of the landmark is inferred by calculating the parameters of the plane where the mark is; and finally, the position of the landmark with respect to the robot is computed. Through all the location process, the statistical moments is the underlying technique used. We present experimental evidence to analyze the error in the estimation of the 3D structure of some shapes for both a monocular and a two camera vision system. Our experiments show that the approach presented is suitable for robot location.

Citation Download Citation

Joaquin Salas and Jose Luis Gordillo "Robot location using vision to recognize artificial landmarks", Proc. SPIE 2354, Intelligent Robots and Computer Vision XIII: 3D Vision, Product Inspection, and Active Vision, (13 October 1994); https://doi.org/10.1117/12.189098

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

;

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE