Multiple Moving Obstacles Avoidance of Service Robot using Stereo Vision

Abstract

Abstrak

Vision Based Self Localization for Humanoid Robot Soccer

“…All such transformations are done for achieving some particular goal or purpose. Computer Vision is an important tool for robotics systems since it mimics the human sense of vision and allows for non-contact measurement of the environment [8].In this work, the computer vision mainly used to detect special object in the robot soccer field in order to infer its locations and the robot location. The computer vision comprised a webcam, for imaging process and an embedded computer at the back of the robot for the image processing process.…”

Indoor Localization System based on Artificial Landmarks and Monocular Vision

“…Another advantage with synchronization is related to human comfort as they will have to share the environment with the proposed localization system. The advantage is that the LEDs are switched-on during a very short time period which does not affect people's vision [1] energy consumption is reduced and the longevity of the LEDs is increased. This visual approach made it possible to perform a pose estimation that is accurate and reliable regardless of the environment and task.…”

“…To make some of these systems completely autonomous, mobile robots require a practical and reliable localization system as this is fundamental for them to correct the execution of their tasks. In addition to the localization system, incorporating computer vision in a mobile robot allows it to perform other activities related to navigation (collision avoidance [1] , path planning and control decisions [2] ) or even surveillance (person recognition). However, there is a major drawback related to the light variation in the environment, which normally compromises the applicability and performance of computer vision techniques.…”

Stereo kamera sisteminde aykırılık haritaları yardımıyla nesne uzaklıklarının tespit edilmesi

“…Budiharto ve ark. [14] ise stereo görüsünü kullanarak birden fazla hareketli engelden kurtulabilen ve kapalı alanlarda kullanılan bir servis robotu tasarlamışlardır. Stereo kamera sisteminin kullanıldığı, hareketli engeller arasından geçerek bir kupayı istenen müşteriye götürebilen servis robotunda, görme sensörleri bozukluklarını Bayes yaklaşımı yardımıyla gideren yeni bir metot geliştirilmiştir.…”