원문정보
초록
영어
Distance measurement is essential for autonomous mobile robot. In this paper, development of a structured-light image based ranging system is addressed. In order to obtain omnidirectional distance data, the ranging sensor units are deployed in ring structure on a mobile robot. The omnidirectional distance information to surrounding objects is useful for making a local distance map and the self-localization of a mobile robot by matching the local map with a given global map. An efficient image processing algorithm, i.e., integration of difference images with structured-light modulation is proposed, which results in robust extraction of the structured-light pixels from a camera image against environmental ambient light. Experiments for the structured-light pixel extraction, distance computation, matching and localization are conducted to verify the performance of the proposed ranging system.
목차
1. Introduction
2. Development of Structured-Light Image Based Ranging System
3. Self-localization Using Omnidirectional Distance Map
3.1. Local Omnidirectional Distance Map
3.2. Matching for Self-localization
3.3. Line Segment from the Measured Distance Data
3.4. Matching and the Self-localization
4. Experimental Results
4.1. Experimental Environment and Mobile Robot
4.2. Acquisition of Distance Data
5. Result of Experiments
6. Conclusions
Acknowledgements
References