지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2014.6
- 수록면
- 96 - 103 (8page)
이용수
초록· 키워드
오류제보하기
Global localization is one of the essential issues for mobile robot navigation. In this study, an indoor global localization method is proposed which uses a Kinect sensor and a monocular upwardlooking camera. The proposed method generates an environment map which consists of a grid map, a ceiling feature map from the upward-looking camera, and a spatial feature map obtained from the Kinect sensor. The method selects robot pose candidates using the spatial feature map and updates sample poses by particle filter based on the grid map. Localization success is determined by calculating the matching error from the ceiling feature map. In various experiments, the proposed method achieved a position accuracy of 0.12m and a position update speed of 10.4s, which is robust enough for realworld applications.
목차
Abstract
1. 서론
2. 환경지도 작성
3. 공간 특징지도를 이용한 로봇 위치후보지 선정
4. 전역 위치추정
5. 실험 결과
6. 결론
References
참고문헌 (14)
참고문헌 신청
1. [단행본] - R. Siegwart / 2004 / Introduction to Autonomous Mobile Robots / MIT Press
2. [학술지(정기간행물)] - D. Fox / 1998 / Active Markov Localization for Mobile Robots / Robotics and Autonomous Systems 25 : 195 ~ 207
3. [학술지(정기간행물)] - S. Y. Hwang / 2013 / Clustering and probabilistic matching of arbitrarily shaped ceiling features for monocular vision-based SLAM / Advanced Robotics 27 (10) : 739 ~ 747
4. [학술대회논문] - M. Montemerlo / 2003 / FastSLAM 2.0: An improved particle filtering algorithm for simultaneous localization and mapping that provably converges / Proc. of the 16th Int. Joint Conf. on Artificial Intelligence
5. [학술지(정기간행물)] - D. Xu / 2009 / Ceiling-Based Visual Positioning for an Indoor Mobile Robot With Monocular Vision / IEEE Trans. on Industrial Electronics 56 (5) : 1617 ~ 1628
2. [학술지(정기간행물)] - D. Fox / 1998 / Active Markov Localization for Mobile Robots / Robotics and Autonomous Systems 25 : 195 ~ 207
3. [학술지(정기간행물)] - S. Y. Hwang / 2013 / Clustering and probabilistic matching of arbitrarily shaped ceiling features for monocular vision-based SLAM / Advanced Robotics 27 (10) : 739 ~ 747
4. [학술대회논문] - M. Montemerlo / 2003 / FastSLAM 2.0: An improved particle filtering algorithm for simultaneous localization and mapping that provably converges / Proc. of the 16th Int. Joint Conf. on Artificial Intelligence
5. [학술지(정기간행물)] - D. Xu / 2009 / Ceiling-Based Visual Positioning for an Indoor Mobile Robot With Monocular Vision / IEEE Trans. on Industrial Electronics 56 (5) : 1617 ~ 1628
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UCI(KEPA) : I410-ECN-0101-2020-559-001258335