Localization through omnivision for a tour-guide robot
Please use this identifier to cite or link to this item:
http://hdl.handle.net/10045/12577
Title: | Localization through omnivision for a tour-guide robot |
---|---|
Authors: | Gamallo Solórzano, Cristina | Quintía Vidal, Pablo | Vázquez Regueiro, Carlos | Mucientes Molina, Manuel |
Keywords: | Global localization | Omnivision | Tour-guide robot | Kidnapping problem |
Knowledge Area: | Ciencia de la Computación e Inteligencia Artificial |
Issue Date: | Jan-2009 |
Publisher: | Red de Agentes Físicos |
Citation: | GAMALLO SOLORZANO, Cristina, et al. “Localization through omnivision for a tour-guide robot”. Journal of Physical Agents. Vol. 3, No. 1 (Jan. 2009). ISSN 1888-0258, pp. 25-34 |
Abstract: | The localization of a mobile robot in a real environment is a complex task. In this paper, an algorithm that solves the global localization is presented. The proposal is based on a merit function that ranks different possible poses obtained from the acquired image, together with an iterative process for the minimization of that function using a particle filter. Landmark detection has been done with an omnidirectional camera pointing to the ceiling, combined with an infrared passband filter which extracts the lights. Several real experiments, both for global localization and the kidnapped robot problem, have been done in a museum. Results show a high accuracy, robustness, and real-time execution in this complex and crowded environment. |
Sponsor: | This work has been partially supported by the Galician Regional Government and the Spanish Government through grants PGIDIT- TIC206011PR, TIN2005-03844, INCITE08PXIB262202PR and TIN2008-04008/TSI. |
URI: | http://hdl.handle.net/10045/12577 | http://dx.doi.org/10.14198/JoPha.2009.3.1.04 |
ISSN: | 1888-0258 |
DOI: | 10.14198/JoPha.2009.3.1.04 |
Language: | eng |
Type: | info:eu-repo/semantics/article |
Peer Review: | si |
Appears in Collections: | Journal of Physical Agents - 2009, Vol. 3, No. 1 |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
JoPha_3_1_04.pdf | 7,31 MB | Adobe PDF | Open Preview | |
This item is licensed under a Creative Commons License