Vision-based localization using active scope camera &amp;#x2014; Accuracy evaluation for structure from motion in disaster environment

Ishikura, Michihisa; Takeuchi, Eijiro; Konyo, Masashi; Tadokoro, Satoshı

doi:10.1109/sii.2010.5708296

Cited by 4 publications

(2 citation statements)

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“…1) State update equation: During each test signal emission, we assumed that the posture of the hose-shaped robot is stable, the state vector performs random walk for each k: (10) where u k denotes the Gaussian distribution represented by…”

Section: Formulation Of the Robot Shapementioning

confidence: 99%

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Posture estimation of hose-shaped robot using microphone array localization

Bando

Mizumoto

Itoyama

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents a posture estimation of hoseshaped robot using microphone array localization. The hoseshaped robots, one of major rescue robots, have problems with navigation because their posture is too flexible for a remote operator to control to go as far as desired. For navigational and mission usability, the posture estimation of the hose-shaped robot is essential. We developed a posture estimation method with a microphone array and small loudspeakers equipped on the hose-shaped robot. Our method consists of two steps: (1) playing a known sound from the loudspeaker one-by-one, and (2) estimating the microphone positions on the hose-shaped robot instead of estimating the posture directly. We designed a time difference of arrival (TDOA) estimation method to be robust against directional noise and implemented a prototype system using a posture model of the hose-shaped robot and an Extended Kalman Filter (EKF). The validity of our approach is evaluated by the experiments with both signals recorded in an anechoic chamber and simulated data.

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Section: Formulation Of the Robot Shapementioning

confidence: 99%

“…Ishikura et al [10] reported the tip localization method using the temporal difference of tip camera visions. They estimated the movement of the tip camera by extracting similar points between images.…”

Section: Introductionmentioning

confidence: 99%

Posture estimation of hose-shaped robot using microphone array localization

Bando

Mizumoto

Itoyama

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Vision-based responders localization techniques in urban search and rescue scenarios

Yang

Ganz

2016

2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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In this paper, we introduce a vision-based localization algorithm that can accurately track responders during rescue operations in urban areas that are Global Navigation Satellite System (GNSS)-denied. The proposed algorithm works successfully with the rich visual features of an urban environment and obtains an average localization accuracy of 2.5 ft. In addition, we also provide a 3D representation of the disaster field which reflects the current conditions of the site.

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