標題: TARGET POSITION ESTIMATION USING MULTI-VISION SYSTEM IMPLEMENTED ON DISTRIBUTED MOBILE ROBOTS
作者: Hsiao, Jen-Pin
Yeh, Syh-Shiuh
Hsu, Pau-Lo
電機工程學系
Department of Electrical and Computer Engineering
關鍵字: Position estimation;multi-vision;distributed robot;mobile robot
公開日期: 2013
摘要: In this study, a multi-vision system implemented on distributed mobile robots to estimate the target position of an object in the real world was developed. A triangulation method using the colour feature of an object was applied to develop the target position estimation method. The geometrical relationship among mobile robots affects the accuracy of target position estimation; thus, the effects induced by the geometrical relationship were analysed and a fusion method to obtain accurate estimation results was developed. Moreover, a video stabilization method that integrates the block matching method, weighs averaging method, and the Kalman filter design was developed to provide stabilized images to improve the target position estimation accuracy when the distributed mobile robots move on an uneven ground. A method for detecting and eliminating incorrect estimations was further developed to reduce the adverse effects induced by ill-conditioned image quality. Finally, an application related to the cooperative motions of multiple mobile robots demonstrated the feasibility of the multi-vision system and the approaches developed in this study using image- and position-visual servoing techniques.
URI: http://hdl.handle.net/11536/22437
http://dx.doi.org/10.2316/Journal.206.2013.2.206-3783
ISSN: 0826-8185
DOI: 10.2316/Journal.206.2013.2.206-3783
期刊: INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
Volume: 28
Issue: 2
起始頁: 154
結束頁: 169
Appears in Collections:Articles