Earticle

초록

영어

Distance measurement is essential for autonomous mobile robot. In this paper, development of a structured-light image based ranging system is addressed. In order to obtain omnidirectional distance data, the ranging sensor units are deployed in ring structure on a mobile robot. The omnidirectional distance information to surrounding objects is useful for making a local distance map and the self-localization of a mobile robot by matching the local map with a given global map. An efficient image processing algorithm, i.e., integration of difference images with structured-light modulation is proposed, which results in robust extraction of the structured-light pixels from a camera image against environmental ambient light. Experiments for the structured-light pixel extraction, distance computation, matching and localization are conducted to verify the performance of the proposed ranging system.

목차

Abstract
 1. Introduction
 2. Development of Structured-Light Image Based Ranging System
 3. Self-localization Using Omnidirectional Distance Map
  3.1. Local Omnidirectional Distance Map
  3.2. Matching for Self-localization
  3.3. Line Segment from the Measured Distance Data
  3.4. Matching and the Self-localization
 4. Experimental Results
  4.1. Experimental Environment and Mobile Robot
  4.2. Acquisition of Distance Data
 5. Result of Experiments
 6. Conclusions
 Acknowledgements
 References

키워드

저자

• Soon-cheol Kim [ Department of Electrical and Information Engineering, Seoul National University of Science and Technology, Korea ]
• Chan-ho Park [ Department of Electrical and Information Engineering, Seoul National University of Science and Technology, Korea ]
• Soo-yeong Yi [ Department of Electrical and Information Engineering, Seoul National University of Science and Technology, Korea ] Corresponding author

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605