11 October 2000 Computer vision system for an autonomous mobile robot
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The purpose of this paper is to compare three methods for 3- D measurements of line position used for the vision guidance to navigate an autonomous mobile robot. A model is first developed to map 3-D ground points into image points to be developed using homogeneous coordinates. Then using the ground plane constraint, the inverse transformation that maps image points into 3-D ground points is determined. And then the system identification problem is solved using a calibration device. Calibration data is used to determine the model parameters by minimizing the mean square error between model and calibration points. A novel simplification is then presented which provides surprisingly accurate results. This method is called the magic matrix approach and uses only the calibration data. A more standard variation of this approach is also considered. The significance of this work is that it shows that three methods that are based on 3-D measurements may be used for mobile robot navigation and that a simple method can achieve accuracy to a fraction of an inch which is sufficient in some applications.
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Xiaoqun Liao, Xiaoqun Liao, Jin Cao, Jin Cao, Ming Cao, Ming Cao, Tayib Samu, Tayib Samu, Ernest L. Hall, Ernest L. Hall, } "Computer vision system for an autonomous mobile robot", Proc. SPIE 4197, Intelligent Robots and Computer Vision XIX: Algorithms, Techniques, and Active Vision, (11 October 2000); doi: 10.1117/12.403759; https://doi.org/10.1117/12.403759


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