Mobile robot localization in outdoor environments based on near-infrared vision

被引：2
|
作者：
Wang J. [1 ]
Chen W. [1 ]
Hu S. [1 ]
Zhang X. [1 ]
机构：
[1] Department of Automation, Shanghai Jiao Tong University
来源：
Jiqiren/Robot | 2010年 / 32卷 / 01期
关键词：
Mobile robot; Near-infrared; Outdoor localization; Sensor fusion;
D O I：
10.3724/SP.J.1218.2010.00097
中图分类号：
学科分类号：
摘要：
A self-localization system based on near-infrared vision and bar-coded landmarks for robot navigating in outdoor environment with variable light conditions and electromagnetic interference is presented. The near-infrared illuminator and omni-directional vision are used for recognizing bar-coded landmarks. Data from vision system and odometry are fused with an extended Kalman filter (EKF) to realize robot self-localization. The experiment result demonstrates that the proposed method eliminates the effect of light variations on robot localization in outdoor long-range navigation.
引用
收藏
页码：97 / 103
页数：6
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