Download or read book Vision Based Localization of Mobile Robots written by Jason Mooberry and published by . This book was released on 2007 with total page 68 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Mobile robotics is an active and exciting sub-field of Computer Science. Its importance is easily witnessed in a variety of undertakings from DARPA's Grand Challenge to NASA's Mars exploration program. The field is relatively young, and still many challenges face roboticists across the boards. One important area of research is localization, which concerns itself with granting a robot the ability to discover and continually update an internal representation of its position. Vision based sensor systems have been investigated, but to much lesser extent than other popular techniques. A custom mobile platform has been constructed on top of which a monocular vision based localization system has been implemented. The rigorous gathering of empirical data across a large group of parameters germane to the problem has led to various findings about monocular vision based localization and the fitness of the custom robot platform. The localization component is based on a probabilistic technique called Monte-Carlo Localization (MCL) that tolerates a variety of different sensors and effectors, and has further proven to be adept at localization in diverse circumstances. Both a motion model and sensor model that drive the particle filter at the algorithm's core have been carefully derived. The sensor model employs a simple correlation process that leverages color histograms and edge detection to filter robot pose estimations via the on board vision. This algorithm relies on image matching to tune position estimates based on a priori knowledge of its environment in the form of a feature library. It is believed that leveraging different computationally inexpensive features can lead to efficient and robust localization with MCL. The central goal of this thesis is to implement and arrive at such a conclusion through the gathering of empirical data. Section 1 presents a brief introduction to mobile robot localization and robot architectures, while section 2 covers MCL itself in more depth. Section 3 elaborates on the localization strategy, modeling and implementation that forms the basis of the trials that are presented toward the end of that section. Section 4 presents a revised implementation that attempts to address shortcomings identified during localization trials. Finally in section 5, conclusions are drawn about the effectiveness of the localization implementation and a path to improved localization with monocular vision is posited"--Abstract.

Download or read book Robotic Systems Concepts Methodologies Tools and Applications written by Management Association, Information Resources and published by IGI Global. This book was released on 2020-01-03 with total page 2075 pages. Available in PDF, EPUB and Kindle. Book excerpt: Through expanded intelligence, the use of robotics has fundamentally transformed a variety of fields, including manufacturing, aerospace, medicine, social services, and agriculture. Continued research on robotic design is critical to solving various dynamic obstacles individuals, enterprises, and humanity at large face on a daily basis. Robotic Systems: Concepts, Methodologies, Tools, and Applications is a vital reference source that delves into the current issues, methodologies, and trends relating to advanced robotic technology in the modern world. Highlighting a range of topics such as mechatronics, cybernetics, and human-computer interaction, this multi-volume book is ideally designed for robotics engineers, mechanical engineers, robotics technicians, operators, software engineers, designers, programmers, industry professionals, researchers, students, academicians, and computer practitioners seeking current research on developing innovative ideas for intelligent and autonomous robotics systems.

Download or read book Vision Based Mobile Robotics mobile robot localization using vision sensors and active probabilistic approaches written by Emanuele Frontoni and published by Lulu.com. This book was released on 2012-01-22 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: The use of vision in mobile robotics in one of the main goal of this thesis. In particular novel appearance based approaches for image matching metric are introduced. These approaches are applied to the problem of mobile robot localization.Similarity measures between robot's views are used in probabilistic methods for robot pose estimation. In this field of probabilistic localization active approach are proposed allowing the robot to faster and better localize. All methods have been extensively tested using a real robot in an indoor environment.Note: the book is the publication of the PhD thesis discussed in Università Politecnica delle Marche, Ancona, Italy in 2006 by Emanuele Frontoni

Download or read book Vision Based Autonomous Robot Navigation written by Amitava Chatterjee and published by Springer. This book was released on 2012-10-13 with total page 235 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.

Download or read book Machine Learning based Natural Scene Recognition for Mobile Robot Localization in An Unknown Environment written by Xiaochun Wang and published by Springer. This book was released on 2019-08-12 with total page 328 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book advances research on mobile robot localization in unknown environments by focusing on machine-learning-based natural scene recognition. The respective chapters highlight the latest developments in vision-based machine perception and machine learning research for localization applications, and cover such topics as: image-segmentation-based visual perceptual grouping for the efficient identification of objects composing unknown environments; classification-based rapid object recognition for the semantic analysis of natural scenes in unknown environments; the present understanding of the Prefrontal Cortex working memory mechanism and its biological processes for human-like localization; and the application of this present understanding to improve mobile robot localization. The book also features a perspective on bridging the gap between feature representations and decision-making using reinforcement learning, laying the groundwork for future advances in mobile robot navigation research.

Download or read book Introduction to AI Robotics second edition written by Robin R. Murphy and published by MIT Press. This book was released on 2019-10-01 with total page 649 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive survey of artificial intelligence algorithms and programming organization for robot systems, combining theoretical rigor and practical applications. This textbook offers a comprehensive survey of artificial intelligence (AI) algorithms and programming organization for robot systems. Readers who master the topics covered will be able to design and evaluate an artificially intelligent robot for applications involving sensing, acting, planning, and learning. A background in AI is not required; the book introduces key AI topics from all AI subdisciplines throughout the book and explains how they contribute to autonomous capabilities. This second edition is a major expansion and reorganization of the first edition, reflecting the dramatic advances made in AI over the past fifteen years. An introductory overview provides a framework for thinking about AI for robotics, distinguishing between the fundamentally different design paradigms of automation and autonomy. The book then discusses the reactive functionality of sensing and acting in AI robotics; introduces the deliberative functions most often associated with intelligence and the capability of autonomous initiative; surveys multi-robot systems and (in a new chapter) human-robot interaction; and offers a “metaview” of how to design and evaluate autonomous systems and the ethical considerations in doing so. New material covers locomotion, simultaneous localization and mapping, human-robot interaction, machine learning, and ethics. Each chapter includes exercises, and many chapters provide case studies. Endnotes point to additional reading, highlight advanced topics, and offer robot trivia.

Download or read book Mobile Robot Localization and Map Building written by Jose A. Castellanos and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decade, many researchers have dedicated their efforts to constructing revolutionary machines and to providing them with forms of artificial intelligence to perform some of the most hazardous, risky or monotonous tasks historically assigned to human beings. Among those machines, mobile robots are undoubtedly at the cutting edge of current research directions. A rough classification of mobile robots can be considered: on the one hand, mobile robots oriented to human-made indoor environments; on the other hand, mobile robots oriented to unstructured outdoor environments, which could include flying oriented robots, space-oriented robots and underwater robots. The most common motion mechanism for surface mobile robots is the wheel-based mechanism, adapted both to flat surfaces, found in human-made environments, and to rough terrain, found in outdoor environments. However, some researchers have reported successful developments with leg-based mobile robots capable of climbing up stairs, although they require further investigation. The research work presented here focuses on wheel-based mobile robots that navigate in human-made indoor environments. The main problems described throughout this book are: Representation and integration of uncertain geometric information by means of the Symmetries and Perturbations Model (SPmodel). This model combines the use of probability theory to represent the imprecision in the location of a geometric element, and the theory of symmetries to represent the partiality due to characteristics of each type of geometric element. A solution to the first location problem, that is, the computation of an estimation for the mobile robot location when the vehicle is completely lost in the environment. The problem is formulated as a search in an interpretation tree using efficient matching algorithms and geometric constraints to reduce the size of the solution space. The book proposes a new probabilistic framework adapted to the problem of simultaneous localization and map building for mobile robots: the Symmetries and Perturbations Map (SPmap). This framework has been experimentally validated by a complete experiment which profited from ground-truth to accurately validate the precision and the appropriateness of the approach. The book emphasizes the generality of the solutions proposed to the different problems and their independence with respect to the exteroceptive sensors mounted on the mobile robot. Theoretical results are complemented by real experiments, where the use of multisensor-based approaches is highlighted.

Download or read book Mobile Robot Localization from Large Scale Appearance Mosaics written by Alonzo Kelly and published by . This book was released on 2000 with total page 52 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "A new practical, high-performance mobile robot localization technique is described which is motivated by the fact that many man-made environments contain substantially flat, visually textured surfaces of persistent appearance. While the tracking of image regions is much studied in computer vision, appearance is still a largely unexploited localization resource in commercially relevant guidance applications. We show how prior appearance models can be used to enable highly repeatable mobile robot guidance that, unlike commercial alternatives, is both infrastructure-free and free-ranging. Very large scale mosaics are constructed and used to localize a mobile robot operating in the modeled environment. Straighforward techniques from vision-based localization and mosaicking are used to produce a field-relevant AGV guidance system based only on vision and odometry. The feasibility, design, implementation, and pre-commercial field qualification of such a guidance system are described."

Download or read book Advances in Visual Computing written by George Bebis and published by Springer Science & Business Media. This book was released on 2008-11-13 with total page 1216 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two volume set LNCS 5358 and LNCS 5359 constitutes the refereed proceedings of the 4th International Symposium on Visual Computing, ISVC 2008, held in Las Vegas, NV, USA, in December 2008. The 102 revised full papers and 70 poster papers presented together with 56 full and 8 poster papers of 8 special tracks were carefully reviewed and selected from more than 340 submissions. The papers are organized in topical sections on computer graphics, visualization, shape/recognition, video analysis and event recognition, virtual reality, reconstruction, motion, face/gesture, and computer vision applications. The 8 additional special tracks address issues such as object recognition, real-time vision algorithm implementation and application, computational bioimaging and visualization, discrete and computational geometry, soft computing in image processing and computer vision, visualization and simulation on immersive display devices, analysis and visualization of biomedical visual data, as well as image analysis for remote sensing data.

Download or read book Introduction to Mobile Robot Control written by Spyros G Tzafestas and published by Elsevier. This book was released on 2013-10-03 with total page 718 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background

Download or read book Simultaneous Localization and Mapping for Mobile Robots Introduction and Methods written by Fernández-Madrigal, Juan-Antonio and published by IGI Global. This book was released on 2012-09-30 with total page 497 pages. Available in PDF, EPUB and Kindle. Book excerpt: As mobile robots become more common in general knowledge and practices, as opposed to simply in research labs, there is an increased need for the introduction and methods to Simultaneous Localization and Mapping (SLAM) and its techniques and concepts related to robotics. Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods investigates the complexities of the theory of probabilistic localization and mapping of mobile robots as well as providing the most current and concrete developments. This reference source aims to be useful for practitioners, graduate and postgraduate students, and active researchers alike.

Download or read book Self positioning and Localization of a Mobile Robot Using Vision based Behaviors written by and published by . This book was released on with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper presents a method to localize a mobile robot in a topological map. This work enters a navigation method developed for mobile robots, which basic idea is to represent the robot spatial knowledge by a topological map and to use the behavioral approach to control the robot moves between fixed positions of the environment known as self-positioning sites. A feature of this method is that each physically grounded site is represented by a node in the topological map, and the localization problem is to find the node-site correspondences. In the paper we develop and analyze a localization method based on vision that compares images taken by a robot-mounted camera with references images. Special considerations is given to noise rejection by making the method robust against environmental changes. The localization method is implemented on a Nomad 200 mobile robot. Presented localization results illustrate its performance and degree of robustness.

Download or read book Introduction to Autonomous Mobile Robots second edition written by Roland Siegwart and published by MIT Press. This book was released on 2011-02-18 with total page 473 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

Download or read book Robot Localization and Map Building written by Hanafiah Yussof and published by IntechOpen. This book was released on 2010-03-01 with total page 588 pages. Available in PDF, EPUB and Kindle. Book excerpt: Localization and mapping are the essence of successful navigation in mobile platform technology. Localization is a fundamental task in order to achieve high levels of autonomy in robot navigation and robustness in vehicle positioning. Robot localization and mapping is commonly related to cartography, combining science, technique and computation to build a trajectory map that reality can be modelled in ways that communicate spatial information effectively. This book describes comprehensive introduction, theories and applications related to localization, positioning and map building in mobile robot and autonomous vehicle platforms. It is organized in twenty seven chapters. Each chapter is rich with different degrees of details and approaches, supported by unique and actual resources that make it possible for readers to explore and learn the up to date knowledge in robot navigation technology. Understanding the theory and principles described in this book requires a multidisciplinary background of robotics, nonlinear system, sensor network, network engineering, computer science, physics, etc.

Download or read book Robot Localization and Map Building written by Hanafiah Yussof and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 589 pages. Available in PDF, EPUB and Kindle. Book excerpt: Localization and mapping are the essence of successful navigation in mobile platform technology. Localization is a fundamental task in order to achieve high levels of autonomy in robot navigation and robustness in vehicle positioning. Robot localization and mapping is commonly related to cartography, combining science, technique and computation to build a trajectory map that reality can be modelled in ways that communicate spatial information effectively. This book describes comprehensive introduction, theories and applications related to localization, positioning and map building in mobile robot and autonomous vehicle platforms. It is organized in twenty seven chapters. Each chapter is rich with different degrees of details and approaches, supported by unique and actual resources that make it possible for readers to explore and learn the up to date knowledge in robot navigation technology. Understanding the theory and principles described in this book requires a multidisciplinary background of robotics, nonlinear system, sensor network, network engineering, computer science, physics, etc.

Download or read book Vision based Features for Mobile Robot Localization written by Hashem Tamimi and published by . This book was released on 2006 with total page 142 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Bearing only Simultaneous Localization and Mapping for Vision Based Mobile Robots written by Henry Huang and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this chapter, we proposed a vision-based approach to bearing-only SLAM in a 2dimensional space. We assumed the environment contained several visually distinguishable landmarks. This approach is inspired from techniques used in stereo vision and Structure From Motion. Our landmark initialization method relies solely on the bearing measurements from a single camera. This method does not require information from an odometer or a range sensor. All the object positions can be estimated in a landmark-based frame. The trade-off is that this method requires the robot to be able to move in a straight line for a short while to initialize the landmarks. The proposed method is particularly accurate and useful when the robot can guide itself in a straight line by visually locking on static objects. Since the method does not rely on odometry and range information, the induced map is up to a scale factor only. In our method, the distance L1 - L 2 of two landmarks is taken as the measurement unit of the map. The selection of L1 and L 2 is critical for the accuracy of.