DocumentCode
1585993
Title
Omni-directional vision for robot navigation in substation environments
Author
Guo, Rui ; Han, Lei ; Cheng, Xueqi
Author_Institution
Electr. Power Robotic Lab., State Grid Corp. of China, Jinan, China
fYear
2009
Firstpage
1272
Lastpage
1275
Abstract
This paper presents a new omni-directional vision based navigation system for mobile robots in substation environments for 24h all-weather inspection. It is featured with near infrared illumination, omni-directional imaging, and artificial landmarks recognition. The extended Kalman filter (EKF) is also used to integrate the measurements from vision and odometer. Experiments have also been carried out to verify the functionalities of the system.
Keywords
Kalman filters; path planning; robot vision; artificial landmarks recognition; extended Kalman filter; infrared illumination; omnidirectional imaging; omnidirectional vision; robot navigation; substation environments; Image recognition; Infrared imaging; Inspection; Lighting; Machine vision; Mobile robots; Navigation; Optical imaging; Robot vision systems; Substations; artificial landmarks recognition; near infrared illumination; omni-directional imaging;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location
Guilin
Print_ISBN
978-1-4244-4774-9
Electronic_ISBN
978-1-4244-4775-6
Type
conf
DOI
10.1109/ROBIO.2009.5420824
Filename
5420824
Link To Document