Active visual localisation for cooperating inspection robots

Author

Davison, Andrew J. ; Kita, Nobuyuki

Author_Institution

Div. of Intelligent Syst., Electrotech. Lab., Ibaraki, Japan

Volume

3

fYear

2000

fDate

2000

Firstpage

1709

Abstract

In the routine inspection of industrial or other areas, teams of robots with various sensors could operate together to great effect, but require reliable, accurate and flexible localisation capabilities to be able to move around safely. We demonstrate accurate localisation for an inspection team consisting of a robot with stereo active vision and its companion with an active lighting system, and show that in this case a single sensor can be used for measuring the position of known or unknown scene features, measuring the relative location of the two robots, and actually carrying out an inspection task

Keywords

active vision; automatic optical inspection; cooperative systems; mobile robots; multi-robot systems; robot vision; stereo image processing; active lighting system; active visual localisation; cooperating inspection robots; flexible localisation capabilities; position measurement; scene features; stereo active vision; Area measurement; Inspection; Intelligent robots; Intelligent sensors; Robot kinematics; Robot sensing systems; Robot vision systems; Sensor phenomena and characterization; Sensor systems; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.895218

Filename

895218