Abstract
A single-webcam distance measurement technique for indoor robot localization is proposed in this paper. The proposed localization technique uses webcams that are available in an existing surveillance environment. The developed image-based distance measurement system (IBDMS) and parallel lines distance measurement system (PLDMS) have two merits. Firstly, only one webcam is required for estimating the distance. Secondly, the set-up of IBDMS and PLDMS is easy, which only one known-dimension rectangle pattern is needed, i.e., a ground tile. Some common and simple image processing techniques, i.e., background subtraction are used to capture the robot in real time. Thus, for the purposes of indoor robot localization, the proposed method does not need to use expensive high-resolution webcams and complicated pattern recognition methods but just few simple estimating formulas. From the experimental results, the proposed robot localization method is reliable and effective in an indoor environment.
Highlights
Autonomous robots have a wide range of potential applications in security guards, house cleaning and even warfare
Most of them are equipped with position measurement systems (PMSs) for the purpose of precisely locating themselves and navigating in their working fields
For a single webcam in its working coverage area, we develop an improved image-based distance measurement system (IBDMS) and a parallel lines distance measurement system (PLDMS) to measure the location of a robot according to a known-size rectangle pattern, i.e., a ground tile
Summary
Autonomous robots have a wide range of potential applications in security guards, house cleaning and even warfare. Three typical techniques [1] in PMSs are triangulation, scene analysis, and proximity. The triangulation technique uses the geometric properties of triangles to compute object locations. The most well-known technique is the Global Positioning System (GPS). GPS, as it is satellite dependent, has an inherent problem of accurately determining the locations of objects within a building [2]. A proximity location-sensing technique entails determining when an object is “near” a known location, and the object’s presence can be sensed via some limited range physical phenomenon. The scene analysis location sensing technique uses features of a scene observed from a particular vantage point to draw conclusions about the location of the observer or of objects in the scene. Some well-known techniques are a radar location system [7] or a visual images location system [8]
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