A ceiling feature-based vision control system for a service robot

Wang, Wenjuan; Luo, Zhendong; Song, Peipei; Sheng, Shili; Rao, Yao; Soo, Yew Guan; Yeong, Che Fai; Duan, Feng

doi:10.23919/chicc.2017.8028405

Cited by 2 publications

(3 citation statements)

References 17 publications

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“…Wang et al describe in [34] a vision control system which captures ceiling RGB images with a camera placed on the robot, converts the image to HSV color space and uses V channel images to reduce the effect of illumination lamps. The common objects and the straight lines on the ceiling are detected by template matching and used to estimate the robot orientation.…”

Section: Related Workmentioning

confidence: 99%

Ceiling-Vision-Based Mobile Object Self-Localization: A Composite Framework

Cuzzocrea¹

2021

JVLC

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Section: Related Workmentioning

confidence: 99%

Ceiling-Vision-Based Mobile Object Self-Localization: A Composite Framework

Cuzzocrea¹

2021

JVLC

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“…For lack of space we only state that, according to considerations very similar to that just described, we can conclude that x = g + a sin γ y (x − g) h cos ϕ − γ y (15) where g = GD = DI = a tan θx 2 . As we did previously, we substitute x = x r + x c in 15 and thus we can obtain x c , described in (10).…”

Section: Final Remarks and Future Workmentioning

confidence: 99%

“…A similar approach is described in [9] where artificial passive reflective landmarks are placed on the ceiling and an infrared camera plus an infrared LED source are used to capture the reflection the IR light on the landmark for estimating the robot pose. Wang et al describe in [18] a vision control system which capture ceiling RGB images with a camera placed on the robot, convert the image to HSV color space and use V channel images to reduce the effect of illumination lamps. The common objects and the straight lines on the ceiling are detected by template matching and used to estimate the robot orientation.…”

Section: Introductionmentioning

confidence: 99%

An Innovative Monocular Mobile Object Self-localization Approach Based on Ceiling Vision

Cuzzocrea

Camilotti

Mumolo

2021

Lecture Notes in Networks and Systems

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This study deals with the estimation of the position of a mobile object using ceiling landmarks images acquired by a low resolution camera placed on a mobile object. The mobile object is moving in an indoor environment where light is given by electric lamps with circular holders. The images of the circular holders are projected on the image plane of the camera and are processed by means of computer vision algorithms. The pixels of the images of the light holders on the ceiling are mapped to the pixels of the images of the light holders on the image plane of the camera by means of a two dimensional dynamic programming algorithm (2D-DPA). The projection distortions are thus compensated and this reduces the estimation errors. The algorithm described in this paper estimates the distance from the camera lens to the center of the landmarks using only ceiling vision. Localization can be easily obtain from such distance estimations. The projections are geometrically described and the distance estimation is based on the pixels mapping information obtained by 2D-DPA.

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A ceiling feature-based vision control system for a service robot

Cited by 2 publications

References 17 publications

Ceiling-Vision-Based Mobile Object Self-Localization: A Composite Framework

Ceiling-Vision-Based Mobile Object Self-Localization: A Composite Framework

An Innovative Monocular Mobile Object Self-localization Approach Based on Ceiling Vision

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