A novel laser-vision combined approach to indoor robot pose estimation

Li, Juan and Tarrío Alonso, Paula and Aghajan, Hamid and Philips, Wilfried and Casar Corredera, Jose Ramon (2015). A novel laser-vision combined approach to indoor robot pose estimation. In: "2nd International Conference on Robotics and Computer Vision (ICRCV 2015)", 23/10/2015 - 25/10/2015, Singapore. pp. 1-6.

Description

Title: A novel laser-vision combined approach to indoor robot pose estimation
Author/s:
  • Li, Juan
  • Tarrío Alonso, Paula
  • Aghajan, Hamid
  • Philips, Wilfried
  • Casar Corredera, Jose Ramon
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2nd International Conference on Robotics and Computer Vision (ICRCV 2015)
Event Dates: 23/10/2015 - 25/10/2015
Event Location: Singapore
Title of Book: 2nd International Conference on Robotics and Computer Vision (ICRCV 2015)
Date: 2015
Subjects:
Freetext Keywords: Robot; pose estimation; localization; laser; camera
Faculty: E.T.S.I. Telecomunicación (UPM)
Department: Señales, Sistemas y Radiocomunicaciones
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

The pose of a robot is an essential information for manipulating, scheduling and monitoring tasks. This paper presents a novel system architecture and algorithm for indoor robot pose estimation. Previous robot pose estimation systems have limitations in terms of computational cost, accuracy, price or safety. Therefore, we propose a cheap and easy-to-use solution which needs only one or two laser pointers mounted on the robot pointing vertically towards the ceiling plane and a fixed low-cost camera. The proposed system is suitable for applications that demand very high localization accuracy. It can be potentially used for health care and surveillance applications. The experimental results clearly show that the proposed method is able to achieve high speed and high precision. The average pose estimation error is 14 mm in an area of about 24 m2 and the algorithm runs at 27 Hz.

More information

Item ID: 42399
DC Identifier: http://oa.upm.es/42399/
OAI Identifier: oai:oa.upm.es:42399
Deposited by: Memoria Investigacion
Deposited on: 18 Jul 2016 18:28
Last Modified: 18 Jul 2016 18:28
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