Vision localization system for mobile robot with velocities and acceleration estimator

P. DutkiewiczChair of Control and Systems Engineering Poznan University of Technology 3a Piotrowo St. 60-965 Poznan PolandOther articles by this author:De Gruyter OnlineGoogle Scholar; M. Kie?czewskiChair of Control and Systems Engineering Poznan University of Technology 3a Piotrowo St. 60-965 Poznan PolandOther articles by this author:De Gruyter OnlineGoogle Scholar; K. Koz?owskiChair of Control and Systems Engineering Poznan University of Technology 3a Piotrowo St. 60-965 Poznan PolandOther articles by this author:De Gruyter OnlineGoogle Scholar; D. PazderskiChair of Control and Systems Engineering Poznan University of Technology 3a Piotrowo St. 60-965 Poznan PolandOther articles by this author:De Gruyter OnlineGoogle Scholar

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Vision localization system for mobile robot with velocities and acceleration estimator

机译：具有速度和加速度估算器的移动机器人视觉定位系统

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The paper presents a localization system for a mobile robot using the vision system and LED markers and considers the problem of velocity and acceleration estimation in the case of planar motions. Theoretical considerations include the principle of measurement and the details of Kalman estimator with illustrations based on experimental setup. The presented measurement system can be used for a realization of advanced control algorithms for skid-steering mobile robots where significant slippage phenomenon appears.

机译：本文提出了一种使用视觉系统和LED标记的移动机器人定位系统，并考虑了平面运动情况下的速度和加速度估计问题。理论上的考虑包括测量原理和卡尔曼估计器的细节，并基于实验设置进行了图解说明。提出的测量系统可用于实现出现明显滑移现象的滑移移动机器人的高级控制算法。

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《Bulletin of the Polish Academy of Sciences. Technical Sciences 》 |2010年第1期| 共页
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P. DutkiewiczChair of Control and Systems Engineering Poznan University of Technology 3a Piotrowo St. 60-965 Poznan PolandOther articles by this author:De Gruyter OnlineGoogle Scholar; M. Kie?czewskiChair of Control and Systems Engineering Poznan University of Technology 3a Piotrowo St. 60-965 Poznan PolandOther articles by this author:De Gruyter OnlineGoogle Scholar; K. Koz?owskiChair of Control and Systems Engineering Poznan University of Technology 3a Piotrowo St. 60-965 Poznan PolandOther articles by this author:De Gruyter OnlineGoogle Scholar; D. PazderskiChair of Control and Systems Engineering Poznan University of Technology 3a Piotrowo St. 60-965 Poznan PolandOther articles by this author:De Gruyter OnlineGoogle Scholar;
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1. Vision localization system for mobile robot with velocities and acceleration estimator [J] . P. DUTKIEWICZ, M. KIELCZEWSKI, K. KOZLOWSKI Bulletin of the Polish Academy of Sciences. Technical Sciences . 2010 ,第1期

机译：具有速度和加速度估算器的移动机器人视觉定位系统
2. Vision localization system for mobile robot with velocities and acceleration estimator [J] . D. Pazderski, K. Koz?owski, M. Kie?czewski, Bulletin of the Polish Academy of Sciences. Technical Sciences . 2010 ,第1期

机译：具有速度和加速度估算器的移动机器人视觉定位系统
3. Landmark-Based Particle Localization Algorithm for Mobile Robots With a Fish-Eye Vision System [J] . Han S-.B., Kim J-.H., Myung H. Mechatronics, IEEE/ASME Transactions on . 2013 ,第6期

机译：基于地标的鱼眼视觉移动机器人粒子定位算法
4. A SPACE-DIVISION OPTICAL WIRELESS INTER-ROBOT COMMUNICATION SYSTEM WITH MUTUAL LOCALIZATION ABILITY FOR MULTIPLE AUTONOMOUS MOBILE ROBOTS [C] . Hiroyuki Takai, Genichi Yasuda, Keihachiro Tachibana 4th IFAC Symposium on Intelligent Autonomous Vehicles 2001 (IAV 2001), Sep 5-7, 2001, Sapporo, Japan . 2001

机译：具有多重定位能力的多自治移动机器人的空分光学无线机器人间通信系统
5. Robust Vision-Aided Self-Localization of Mobile Robots [D] . Lindgren, Kyle. 2020

机译：移动机器人的强大视觉辅助自定位
6. Localization of Mobile Robots Using Odometry and an External Vision Sensor [O] . Daniel Pizarro, Manuel Mazo, Enrique Santiso, 2010

机译：使用测距法和外部视觉传感器对移动机器人进行本地化
7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。
8. GBS: Guidance by Semantics-Using High-Level Visual Inference to Improve Vision-Based Mobile Robot Localization. [R] . Corso, J. 2015

机译：GBs：语义指导 - 使用高级视觉推理改进基于视觉的移动机器人本地化。

Vision localization system for mobile robot with velocities and acceleration estimator

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