Mobile robot navigation using self-similar landmarks

Briggs, Amy; Scharstein, Daniel; Braziunas, Darius; Dima, Cristian; Wall, Pete

doi:10.1109/robot.2000.844798

Cited by 54 publications

(51 citation statements)

References 7 publications

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“…Visual landmarks are being widely used to increase the localization accuracy and has high potential for docking systems [11][12][13][14][15][16]. For example QR-based landmarks have been used extensively because of their capability to store large amounts of information and their resistance against distortion and damage [13].…”

Section: Related Workmentioning

confidence: 99%

“…[19] presents a landmarkbased navigation technique for a mobile robot, where the position estimation is achieved by using a camera and a landmark, which consists of simple geometric patterns. [12] proposes a new system for vision-based mobile robot navigation in an unmodeled environment. Simple, unobtrusive artificial landmarks are used as navigation and localization aids.…”

Section: Related Workmentioning

confidence: 99%

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Path Planning for Automatic Recharging System for Steep-Slope Vineyard Robots

Santos

Mendes

et al. 2017

ROBOT 2017: Third Iberian Robotics Conference

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Abstract. Develop cost-effective ground robots for crop monitoring in steep slope vineyards is a complex challenge. The terrain presents harsh conditions for mobile robots and most of the time there is no one available to give support to the robots. So, a fully autonomous steep-slope robot requires a robust automatic recharging system. This work proposes a multilevel system that monitors a vineyard robot autonomy, to plan offline the trajectory to the nearest recharging point and dock the robot on that recharging point considering visual tags. The proposed system called VineRecharge was developed to be deployed into a cost-effective robot with low computational power. Besides, this paper benchmarks several visual tags and detectors and integrates the best one into the VineRecharge system.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Path Planning for Automatic Recharging System for Steep-Slope Vineyard Robots

Santos

Mendes

et al. 2017

ROBOT 2017: Third Iberian Robotics Conference

View full text Add to dashboard Cite

show abstract

“…The processing of natural landmarks is usually a difficult computational task. Artificial landmarks are manmade, fixed at certain locations, and of certain pattern, such as circular [2], [3], patterns with barcodes [4], or color pattern with symmetric and repetitive arrangement of color patches [5]. Compared with natural landmarks, artificial landmarks usually are simpler; provide a more reliable performance; and work great for the indoor environment.…”

Section: Introductionmentioning

confidence: 99%

“…Using passive landmarks with invariant features such as circular shapes [3] or with simple patterns [4] outdoor environments is complicated by the presence of time varying illumination conditions as well as dynamic objects present in the images. To overcome these drawbacks we propose the use of active landmarks.…”

Section: Introductionmentioning

confidence: 99%

Application of Active Self-landmarking to Camera Calibration

Liu¹,

Pomalaza‐Ráez²

2013

IJCTE

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Abstract-Camera calibration in an outdoor environment often relies on natural landmarks, and algorithms that are computational expensive. This paper presents a fast camera calibration method that uses robots themselves as landmarks to each other. The active landmark made of LEDs, mounted on the robots, can be turned on/off through available wireless link. Experimental measurements and validation were conducted using a low-resolution, low-computation power smart camera, the CMUcam3 camera. The experimental results show that the estimates of the intrinsic camera parameters converge to the correct values as the robot moves and more measurements are used.

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“…(2) However, a mark whose 3D pose can be measured by a simple image processing system and that can be attached to various objects has not been proposed. Many marks for navigation by mobile robots (3) (4) can show only a 2D pose. A mark with a moiré-pattern (5) can show a 3D pose; however, the mark is large because it includes an electric power supply for an LED.…”

Section: Introductionmentioning

confidence: 99%

Proposal of Artificial Mark to Measure 3D Pose by Monocular Vision

Katsuki

Ota

Arai

et al. 2007

JAMDSM

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To measure a 3D pose of the objects, we propose an artificial mark attached to objects. We propose three differently shaped marks, all of which have four point features. To measure the marks, the image processing system extracts the point features using edge extraction, erosion, and color extraction. Through measurement experiments, we compared error characteristic of these marks. The results showed that color extraction, which uses the simplest image processing method, was most robust when a mark was measured from various poses (mean of error: 10.4deg, mean of std. dev.: 7.06deg, worst std. dev.: 24.7deg) or was attached to the surface. Moreover, the mark enabled the shortest measurement time (0.478s/6marks). The usefulness of the mark with color extraction was verified through the success of an experiment in which a manipulator handled three marked objects.

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Mobile robot navigation using self-similar landmarks

Cited by 54 publications

References 7 publications

Path Planning for Automatic Recharging System for Steep-Slope Vineyard Robots

Path Planning for Automatic Recharging System for Steep-Slope Vineyard Robots

Application of Active Self-landmarking to Camera Calibration

Proposal of Artificial Mark to Measure 3D Pose by Monocular Vision

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