Paper Abstract and Keywords |
Presentation |
2019-11-06 11:10
High-precision localization of mobile robots by an external stereo camera in combination with projective transformation Shinya Yasuda, Taichi Kumagai, Hiroshi Yoshida (NEC) CNR2019-22 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
We have developed a precisely localization of a mobile robot by an external stereo camera that is installed on the ceiling. In general, the measuring precision of a stereo camera becomes worse as the distance between the camera and the object becomes longer. Moreover, tilt of the camera gives an incorrect localization in the moving plane. In the present paper, we report the improvement of the localization precision by using a projective transformation and a scale modification. On the basis of the present method, we have shown the stopping error when the mobile robot is automatically controlled decreased by 79,% with 4.2 meter-height ceiling. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Wi-Fi / remote control / communication delay / mobile robot / depth camera / / / |
Reference Info. |
IEICE Tech. Rep., vol. 119, no. 267, CNR2019-22, pp. 33-38, Nov. 2019. |
Paper # |
CNR2019-22 |
Date of Issue |
2019-10-29 (CNR) |
ISSN |
Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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CNR2019-22 |
Conference Information |
Committee |
SRW SeMI CNR |
Conference Date |
2019-11-05 - 2019-11-06 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Kozo Keisaku Engineering Inc. |
Topics (in Japanese) |
(See Japanese page) |
Topics (in English) |
IoT Workshop (Oral or Poster presentation) |
Paper Information |
Registration To |
CNR |
Conference Code |
2019-11-SRW-SeMI-CNR |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
High-precision localization of mobile robots by an external stereo camera in combination with projective transformation |
Sub Title (in English) |
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Keyword(1) |
Wi-Fi |
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remote control |
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communication delay |
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mobile robot |
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depth camera |
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1st Author's Name |
Shinya Yasuda |
1st Author's Affiliation |
NEC Corporation (NEC) |
2nd Author's Name |
Taichi Kumagai |
2nd Author's Affiliation |
NEC Corporation (NEC) |
3rd Author's Name |
Hiroshi Yoshida |
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NEC Corporation (NEC) |
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Speaker |
Author-1 |
Date Time |
2019-11-06 11:10:00 |
Presentation Time |
25 minutes |
Registration for |
CNR |
Paper # |
CNR2019-22 |
Volume (vol) |
vol.119 |
Number (no) |
no.267 |
Page |
pp.33-38 |
#Pages |
6 |
Date of Issue |
2019-10-29 (CNR) |
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