Abstract
This paper presents an image-based mobile robot guidance system in an indoor space with installed artificial ceiling landmarks. The overall system, including an omni-directional mobile robot motion control, landmark image processing and image recognition, is implemented on a single FPGA chip with one CMOS image sensor. The proposed feature representation of the artificial ceiling landmarks is invariant with respect to rotation and translation. One unique feature of the proposed ceiling landmark recognition system is that the feature points of landmarks are determined by topological information from both the foreground and background. To enhance recognition accuracy, landmark classification is performed after the mobile robot is moved to a position such that the ceiling landmark is located in the upright- top corner position of the robot’s camera image. The accuracy of the proposed artificial ceiling landmark recognition system using the nearest neighbor classification is 100% in our experiments.
Highlights
The basic functions of AGV and mobile robots are automated navigation to recognized sites to stop and perform tasks
This paper presents an image-based mobile robot guidance system in an indoor space with installed artificial ceiling landmarks
The contributions of this work are as follows: 1) Only one CMOS image camera is required for the proposed mobile robot guidance control system
Summary
The basic functions of AGV and mobile robots are automated navigation to recognized sites to stop and perform tasks. Ku 2 quite different from one to another Among these sensors, cameras, which are known for their lower prices, ease of use and ability to capture in abundance information, have been increasingly applied to vision-based mobile robot localization. Artificial landmarks are designed with particular colors and shapes to greatly reduce identification difficulty This approach may increase the accuracy in localization and positioning for vision based mobile robot guidance systems. To overcome some difficulties of previous works in [6]-[9], this paper presents an image-based mobile robot localization and guidance system in an indoor space with installed artificial ceiling landmarks. The contributions of this work are as follows: 1) Only one CMOS image camera is required for the proposed mobile robot guidance control system. 2) The proposed foreground/background feature representation of the artificial ceiling landmarks is invariant with respect to rotation and translation. 3) The overall system, including omnidirectional mobile robot motion control and landmark image processing and recognition, is implemented on a single FPGA chip
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