Image-Based Mobile Robot Guidance System by Using Artificial Ceiling LandmarksReport as inadecuate




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This paper presents an image-based mobilerobot guidance system in an indoor space with installed artificial ceilinglandmarks. The overall system, including an omni-directional mobile robotmotion control, landmark image processing and image recognition, is implementedon a single FPGA chip with one CMOS image sensor. The proposed featurerepresentation of the artificial ceiling landmarks is invariant with respect torotation and translation. One unique feature of the proposed ceiling landmarkrecognition system is that the feature points of landmarks are determined bytopological information from both the foreground and background. To enhancerecognition accuracy, landmark classification is performed after the mobilerobot is moved to a position such that the ceiling landmark is located in theupright- top corner position of the robot’s camera image. The accuracy of theproposed artificial ceiling landmark recognition system using the nearestneighbor classification is 100% in our experiments.

KEYWORDS

Mobile Robot Guidance System, Artificial Ceiling Landmark, Image Processing, NCC Nearest Neighbor Classification, FPGA

Cite this paper

Shih, C. and Ku, Y. 2016 Image-Based Mobile Robot Guidance System by Using Artificial Ceiling Landmarks. Journal of Computer and Communications, 4, 1-14. doi: 10.4236-jcc.2016.411001.





Author: Ching-Long Shih*, Yu-Te Ku

Source: http://www.scirp.org/



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