Localization of Mobile Robots Using Odometry and an External Vision Sensor

Pizarro, Daniel; Mazo, Manuel; Santiso, Enrique; Marrón, M.; Jiménez, David González; Cobreces, Santiago; Losada, Cristina

doi:10.3390/s100403655

Cited by 42 publications

(28 citation statements)

References 16 publications

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“…Due to this cumulative errors it is common to combine different localization methods. Several works can be pointed out using the odometry localization with different approches, such as image processing [13] or Wireless Sensor Network [14].…”

Section: Related Workmentioning

confidence: 99%

Ultra-Wideband Time of Flight Based Localization System and Odometry Fusion for a Scanning 3 DoF Magnetic Field Autonomous Robot

Lima¹,

Costa²

2017

ROBOT 2017: Third Iberian Robotics Conference

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Abstract. Solving the robot localization problem is one of the most necessary requirements for autonomous robots. Several methodologies can be used to determine its location as accurately as possible. What makes this difficult is the existence of uncertainty in the sensing of the robot. The uncertain information needs to be combined in an optimal way. This paper stresses a Kalman filter to combine information from the odometry and Ultra Wide Band Time of Flight distance modules, which lacks the orientation. The proposed system validated in a real developed platform performs the fusion task which outputs position and orientation of the robot. It is used to localize the robot and make a 3 DoF scanning of magnetic field in a room. Other examples can be pointed out with the same localization techniques in service and industrial autonomous robots.

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Section: Related Workmentioning

confidence: 99%

Ultra-Wideband Time of Flight Based Localization System and Odometry Fusion for a Scanning 3 DoF Magnetic Field Autonomous Robot

Lima¹,

Costa²

2017

ROBOT 2017: Third Iberian Robotics Conference

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show abstract

“…Their experiments were performed in a small space (a building's hall) with four overlapped cameras. Finally, the Electronics Department of the University of Alcalá (Spain) has proposed several approaches for 3D robot localization and tracking using a single camera [13] or a camera ring [14]. …”

Section: Previous Workmentioning

confidence: 99%

Self-Organized Multi-Camera Network for a Fast and Easy Deployment of Ubiquitous Robots in Unknown Environments

Canedo-Rodriguez

Iglesias

Regueiro

et al. 2012

Sensors

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To bring cutting edge robotics from research centres to social environments, the robotics community must start providing affordable solutions: the costs must be reduced and the quality and usefulness of the robot services must be enhanced. Unfortunately, nowadays the deployment of robots and the adaptation of their services to new environments are tasks that usually require several days of expert work. With this in view, we present a multi-agent system made up of intelligent cameras and autonomous robots, which is easy and fast to deploy in different environments. The cameras will enhance the robot perceptions and allow them to react to situations that require their services. Additionally, the cameras will support the movement of the robots. This will enable our robots to navigate even when there are not maps available. The deployment of our system does not require expertise and can be done in a short period of time, since neither software nor hardware tuning is needed. Every system task is automatic, distributed and based on self-organization processes. Our system is scalable, robust, and flexible to the environment. We carried out several real world experiments, which show the good performance of our proposal.

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“…Similarly, Intelligent Spaces have been applied successfully on the tasks of robot localization and tracking from single [9] and multiple cameras [10], and also on the task of robot navigation [11], [12], [13]. Regretfully, these proposals do not deal with the problem of easy and fast deployment in social environments, and they are not likely to be appropriate for it: all of them have been designed and validated to work in small places (less than 50 square meters), typically requiring a great number of highly coupled cameras, relying on a centralized processing and coordination, and wired communications.…”

Section: Previous Workmentioning

confidence: 99%

Multi-agent system for fast deployment of a guide robot in unknown environments

Rodríguez¹,

Santos²,

Regueiro³

et al. 2012

jopha

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Abstract-Nowadays, deploying service robots and adapting their services to a new environment is a task which might require several days. This is an important problem of robotics in general, but specially when the goal is to bring robots to our everyday life. In this paper we present a multi-agent intelligent space, which consists on intelligent cameras and autonomous guide robots. The deployment of the system does not require expertise and can be done in a short period of time. The cameras detect situations requiring the robots' guiding services, inform the robots accordingly, and support the robots navigation towards the goal areas, without the need of a map of the environment. An example of these situations requiring the robot guide service could be a group of persons entering a museum. In this sense, we also present an adaptive person follower behaviour intended to be the basis of a route learning process, necessary to offer the guide service.

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Localization of Mobile Robots Using Odometry and an External Vision Sensor

Cited by 42 publications

References 16 publications

Ultra-Wideband Time of Flight Based Localization System and Odometry Fusion for a Scanning 3 DoF Magnetic Field Autonomous Robot

Ultra-Wideband Time of Flight Based Localization System and Odometry Fusion for a Scanning 3 DoF Magnetic Field Autonomous Robot

Self-Organized Multi-Camera Network for a Fast and Easy Deployment of Ubiquitous Robots in Unknown Environments

Multi-agent system for fast deployment of a guide robot in unknown environments

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