Title :
Improvement of robustness of the Dual Floor Image Tracking odometry measurement
Author :
Takasu, Takahiro ; Mizukawa, Makoto ; Ando, Yoshinobu
Author_Institution :
Grad. Sch. of Eng., Shibaura Inst. of Technol., Tokyo, Japan
Abstract :
Dual floor image tracking (DFIT) is a dead reckoning component, which acquires optical flows of ground images from two cameras. The robot that is equipped with the DFIT can measure its position and rotation without being affected by slip or drift. Noncontact feature of the DFIT enables to add-on robots with an arbitrary driving mechanism. This paper presents the design principle of the DFIT and the features of RT component with experimental evaluation.
Keywords :
distance measurement; image sequences; middleware; robots; DFIT; RT middleware; arbitrary driving mechanism; dead reckoning component; design principle; dual floor image tracking; noncontact feature; odometry measurement; optical flow; position measurement; realtime component; robot control; Cameras; Dead reckoning; Global Positioning System; Image processing; Pixel; Position measurement; Robot vision systems; Robustness; Rotation measurement; Service robots; Dead reckoning; RT-Middleware; image processing; robot localization; visual odometry;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
