TY - GEN
T1 - Visual localization of an omnidirectional robot using color detection by a multicamera system
AU - Esquivel-Hernandez, Sofia
AU - Gonzalez Mejia, Cesar I.
AU - Garcia Vargas, Oscar E.
AU - Juarez-Salazar, Rigoberto
AU - Gudiño-Lau, Jorge
N1 - Publisher Copyright:
© 2022 SPIE.
PY - 2022
Y1 - 2022
N2 - Vision systems have become a promising feedback sensor for robot navigation due to their ability to extract meaningful scene information. In this work, a multicamera system is proposed to estimate the position and orientation of an omnidirectional robot. For this, three calibrated devices (two smartphones and a webcam) are employed. Also, two badges of different colors are placed on the omnidirectional robot to detect its position and orientation. The obtained pose information is used as feedback for the robot trajectory controller. The results show that the proposed system is a useful alternative for the visual localization of ground mobile robots.
AB - Vision systems have become a promising feedback sensor for robot navigation due to their ability to extract meaningful scene information. In this work, a multicamera system is proposed to estimate the position and orientation of an omnidirectional robot. For this, three calibrated devices (two smartphones and a webcam) are employed. Also, two badges of different colors are placed on the omnidirectional robot to detect its position and orientation. The obtained pose information is used as feedback for the robot trajectory controller. The results show that the proposed system is a useful alternative for the visual localization of ground mobile robots.
KW - Multicamera vision system
KW - Robot navigation
KW - Visual feedback control
UR - http://www.scopus.com/inward/record.url?scp=85141778680&partnerID=8YFLogxK
U2 - 10.1117/12.2633724
DO - 10.1117/12.2633724
M3 - Contribución a la conferencia
AN - SCOPUS:85141778680
T3 - Proceedings of SPIE - The International Society for Optical Engineering
BT - Optics and Photonics for Information Processing XVI
A2 - Awwal, Abdul A. S.
A2 - Iftekharuddin, Khan M.
A2 - Diaz-Ramirez, Victor Hugo
PB - SPIE
T2 - Optics and Photonics for Information Processing XVI 2022
Y2 - 24 August 2022
ER -