An Embedded Vision System for Real-Time Autonomous Localization Using Laser Profilometry

Patruno, Cosimo; Marani, Roberto; Nitti, Massimiliano; D’Orazio, Tiziana; Stella, Ettore

doi:10.1109/tits.2015.2459721

Cited by 16 publications

(5 citation statements)

References 39 publications

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“…Patruno et al determined the relative posture of an AGV that moves in a structured environment using an embedded vision system based on laser profilometry. The authors connected the laser signatures that were retrieved by processing successive photos to estimate the relative robot displacements along the direction of movement [27][28][29]. Adrian and Constantin proposed a design for an omnidirectional robot that makes Pulse Width Modulation (PWM) adjustments in four motors in response to the orientation recorded from the gyroscope using a PID controller [30].…”

Section: Related Workmentioning

confidence: 99%

Dual Mode PID Controller for Path Planning of Encoder Less Mobile Robots in Warehouse Environment

Karthik,

Menaka,

Kishore

et al. 2024

IEEE Access

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Mobile robots have emerged as versatile substitutes for human labor across diverse domains, offering promising applications in surveillance, healthcare, and beyond. Fundamental to their autonomy are the core capabilities of movement, perception, cognition, and navigation. This research introduces a novel approach known as the Dual PID based low-cost navigation system (DPLNS), designed specifically for indoor warehouse-like environments. The primary objective of this technique is to enable seamless point-to-point traversal. This is achieved through a fusion of gyroscope correction and visual PID control mechanisms. Leveraging a strategically positioned eagle-eye perspective camera, the system gained crucial insights for navigation. To ensure the uninterrupted execution of planned trajectories, the system employs the Message Queuing Telemetry Transport (MQTT) protocol. This technology ensures smooth communication and coordination of actions. The experimental validation of the proposed strategy highlights its efficacy, positioning it as a promising solution for modern warehouse automation needs. By advancing the capabilities of mobile robots within warehouse contexts, this research not only addresses immediate operational demands, but also paves the way for broader applications across various other fields. The developed system enables robust detection and successful path traversal to the designated spot through a position control operating at average of 12.3 rad/s.

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Section: Related Workmentioning

confidence: 99%

Dual Mode PID Controller for Path Planning of Encoder Less Mobile Robots in Warehouse Environment

Karthik,

Menaka,

Kishore

et al. 2024

IEEE Access

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“…When designing the mechanical structure of a robotic arm, the economy of production and processing, as well as the practicality in the use of scenarios, should first be considered [24]. It is often necessary to design the corresponding robotic arm structure for different tasks in a specific scenario.…”

Section: Vision-guided Design Of the Four-axis Robotic Arm Systemmentioning

confidence: 99%

Design of a Four-Axis Robot Arm System Based on Machine Vision

Wang,

Zhou,

Wei

et al. 2023

Applied Sciences

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With the concept of industrial automation gradually being put forward, the four-axis robotic arm is gradually being applied in industrial production environments due to its advantages such as a stable structure, easy maintenance, and expandability. However, it is difficult to diversify and improve the traditional four-axis robotic arm system due to the high software and hardware coupling and the single system design, which results in high production costs. At the same time, its low intelligence and high-power consumption limit its wide application. The paper proposes an embedded design of a four-axis manipulator system based on vision guidance. Based on the robot kinematics theory and geometric principles, the dynamics simulation of the manipulator model is carried out. Through the forward and reverse analysis of the manipulator model and the trajectory planning of the manipulator, the YOLOV7 target detection algorithm is introduced and deployed on the embedded device, which greatly reduces the manufacturing cost of the manipulator while meeting the control and power consumption requirements. It has been verified by experiments that the robot arm in this paper can achieve an end accuracy of 0.05 mm under the condition of a load of 1 kg using the ISO 9283 international standard, and the recognition algorithm adopted can achieve a recognition accuracy of 95.2% at a frame rate of 29. The overall power consumption is also lower than that of traditional robotic arms.

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“…The rotation estimation is performed indirectly by converting the X-direction image translations in heading angles. In [28][29][30] an embedded vision system based on laser profilometry is used for obtaining the relative pose of an AGV that can move into a structured environment. The authors correlate the laser signatures extracted by processing consecutive images for estimating the relative displacements of robot along the movement direction.…”

Section: Related Workmentioning

confidence: 99%

A Vision-Based Odometer for Localization of Omnidirectional Indoor Robots

Patruno

Colella

Nitti

et al. 2020

Sensors

Self Cite

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In this paper we tackle the problem of indoor robot localization by using a vision-based approach. Specifically, we propose a visual odometer able to give back the relative pose of an omnidirectional automatic guided vehicle (AGV) that moves inside an indoor industrial environment. A monocular downward-looking camera having the optical axis nearly perpendicular to the ground floor, is used for collecting floor images. After a preliminary analysis of images aimed at detecting robust point features (keypoints) takes place, specific descriptors associated to the keypoints enable to match the detected points to their consecutive frames. A robust correspondence feature filter based on statistical and geometrical information is devised for rejecting those incorrect matchings, thus delivering better pose estimations. A camera pose compensation is further introduced for ensuring better positioning accuracy. The effectiveness of proposed methodology has been proven through several experiments, in laboratory as well as in an industrial setting. Both quantitative and qualitative evaluations have been made. Outcomes have shown that the method provides a final positioning percentage error of 0.21% on an average distance of 17.2 m. A longer run in an industrial context has provided comparable results (a percentage error of 0.94% after about 80 m). The average relative positioning error is about 3%, which is still in good agreement with current state of the art.

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An Embedded Vision System for Real-Time Autonomous Localization Using Laser Profilometry

Cited by 16 publications

References 39 publications

Dual Mode PID Controller for Path Planning of Encoder Less Mobile Robots in Warehouse Environment

Dual Mode PID Controller for Path Planning of Encoder Less Mobile Robots in Warehouse Environment

Design of a Four-Axis Robot Arm System Based on Machine Vision

A Vision-Based Odometer for Localization of Omnidirectional Indoor Robots

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