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Mobile robot navigation using sonar/camera range measurements

Tsourveloudis Nikolaos, K. Valavanis, A. Tsalatsanis

Απλή Εγγραφή


URIhttp://purl.tuc.gr/dl/dias/674E2F3C-9A5F-4894-8A5B-118586C297D5-
Αναγνωριστικόhttps://doi.org/10.1007/s10846-006-9095-8-
Γλώσσαen-
Μέγεθος31 pagesen
ΤίτλοςMobile robot navigation using sonar/camera range measurementsen
ΔημιουργόςTsourveloudis Nikolaosen
ΔημιουργόςΤσουρβελουδης Νικολαοςel
Δημιουργός K. Valavanisen
ΔημιουργόςA. Tsalatsanisen
ΕκδότηςKluwer Academicen
ΠερίληψηA novel, simple and efficient method for vision based range measurements with uncalibrated cameras is presented. Required parameters are the image size, the relative distance between two different image frames of the same scene and the field of view of the camera(s). Range measurements acquired using ultrasonic sensors and a vision system have been used to navigate a mobile robot around known colored obstacles in an indoor environment. Both sonar sensors and cameras are activated and they operate simultaneously in parallel to obtain range measurements from common search areas located in the front of the mobile robot. Experimental results using a parallel stereoscopic, rotated and monocular vision system with uncalibrated cameras confirm that the maximum computational error (as well as the normalized root mean square error) of range measurements using the vision system for obstacles lying at a distance of 27–800 cm from the robot, is smaller compared to other similar, even more advanced and state-of-the-art existing approaches, reported in Rajagopalan.en
ΤύποςPeer-Reviewed Journal Publicationen
ΤύποςΔημοσίευση σε Περιοδικό με Κριτέςel
Άδεια Χρήσηςhttp://creativecommons.org/licenses/by/4.0/en
Ημερομηνία2015-10-07-
Ημερομηνία Δημοσίευσης2007-
Θεματική ΚατηγορίαRobot programmingen
Θεματική Κατηγορίαrobots programmingen
Θεματική Κατηγορίαrobot programmingen
Βιβλιογραφική ΑναφοράTsalatsanis A., K. P. Valavanis, N. C. Tsourveloudis, ' Mobile Robot Navigation Using Sonar/Camera Range Measurements,' Inter. J. of Intell.tand Robotic Syst. , vol. 48, no. 2, pp. 253-284, 2007.doi :10.1007/s10846-006-9095-8en

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