Title :
A method of self-localization of robot based on infrared landmark
Author :
Yanan Ren ; Ye Aixue ; Tao Lu ; Feng Wen ; Kui Yuan
Author_Institution :
Inst. of Autom., Beijing, China
Abstract :
Aiming at the problem of robot self-localization based on vision, this paper proposed a method for robot´s localization based on infrared landmark. First select the suitable infrared source. Second calculate the camera extrinsic parameters using the algorithm based on P3P. Third give the calculation method of robot´s pose to the landmark based on the camera extrinsic. Experiment results validate the feasibility and effectiveness of the proposed method.
Keywords :
image sensors; mobile robots; pose estimation; robot vision; P3P; camera extrinsic parameters; infrared landmark; infrared source; robot pose calculation method; robot self-localization method; Cameras; Equations; Mathematical model; Robot kinematics; Robot vision systems; Infrared landmark; P3P; Self-localization;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053654
