DocumentCode
428670
Title
Verification of stereo vision based localization system
Author
Masuda, Kenji ; Thompson, Simon ; Kagami, Satoshi ; Kanade, Takeo
Volume
6
fYear
2004
fDate
10-13 Oct. 2004
Firstpage
5435
Abstract
It is important for a robot to be able to self localize during real world operation. This paper presents a verification for a localization method based on stereo cameras and a know grid based map. Verification is achieved by moving the robot through the real world while collecting vision and odometry data over a 200 [m] path. After moving the robot, we manually measured the coordinates of the start point and several way points. The pathway was estimated by the localization process and compared to the measured value to examine the localization effectiveness.
Keywords
distance measurement; mobile robots; path planning; position control; robot vision; stereo image processing; 200 m; mobile robot; odometry data; path planning; stereo vision based localization system; Coordinate measuring machines; Humans; Kalman filters; Mobile robots; Robot kinematics; Robot sensing systems; Robot vision systems; Sensor systems; Sonar navigation; Stereo vision;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2004 IEEE International Conference on
ISSN
1062-922X
Print_ISBN
0-7803-8566-7
Type
conf
DOI
10.1109/ICSMC.2004.1401058
Filename
1401058
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