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ABSTRACT: In this paper, using the images of walking human, an absolute position estimation method for a human following robot in ISpace was presented. First, the position estimation uncertainty of the mobile robot is quantitatively represented by the uncertainty ellipsoid.
06/2008; , ISBN: 978-953-7619-01-5
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ABSTRACT: This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace). This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a-priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot.
Industrial Electronics, 2006 IEEE International Symposium on; 08/2006
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Advanced Robotics. 01/2006; 20:737-762.
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AI 2006: Advances in Artificial Intelligence, 19th Australian Joint Conference on Artificial Intelligence, Hobart, Australia, December 4-8, 2006, Proceedings; 01/2006
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Advances in Artificial Reality and Tele-Existence, 16th International Conference on Artificial Reality and Telexistence, ICAT 2006, Hangzhou, China, November 29 - December 1, 2006, Proceedings; 01/2006
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Robotica. 01/2004; 22:51-59.
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J. Field Robotics. 01/2004; 21:389-400.
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ABSTRACT: Position estimation is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the absolute position of the mobile robot by using a fixed camera on the ceiling in the corridor is proposed. And also, it can improve the success rate for position estimation using the proposed method, which calculates the real size of an object. This scheme is not a relative localization, which decreases the position error through algorithms with noisy sensor data, but a kind of absolute localization. The effectiveness of the proposed localization scheme is demonstrated through the experiments.
Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on; 08/2003
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ABSTRACT: The possibility of operating in remote environments by means of teleoperated systems has always been considered of relevant interest in robotics. For this reason, in this paper, the relationship between a slave robot and the uncertain remote environment is proposed as the impedance to generate the virtual force to feed back Io the operator. For the control of a teleoperated mobile robot equipped with camera, the teleoperated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approaching velocity of the obstacle. This virtual force is transferred back to the master over the Internet and the master, which can generate force, enables a human operator to estimate the position of obstacle in the remote environment. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. This force reflection improves the performance of a teleoperated mobile robot significantly.
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on;
