Mobile robot navigation using RFID and vision sensor

被引：4
|
作者：
Chae, Heesung [1 ]
Na, Sangik [1 ]
机构：
[1] Elect & Telecommun Res Inst, Intelligent Robot Res Div, Taejon 305606, South Korea
来源：
2007 INTERNATIONAL SYMPOSIUM ON INFORMATION TECHNOLOGY CONVERGENCE, PROCEEDINGS | 2007年
关键词：
D O I：
10.1109/ISITC.2007.76
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper illustrate an efficient method for global localization incorporating signal detection from artificial landmark consisted of RFID tags, and for fine localization incorporating feature descriptor derived from a view of scene. The system incorporates a RFID reader on a mobile robot checking the signal from RFID tags to localize the robot with respect to global position. After determining the global position of the robot, the feature matching can be used to checking the local position of it in a predetermined global position. And we propose a successive global-to-fine localization algorithm using RFID tags and feature matching respectively. The experimental results showed the proposed algorithm has improved the localization performance on indoor environments with a mobile robot.
引用
收藏
页码：52 / 57
页数：6
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