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Author Brezak, M. ♦ Petrovic, I.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2007
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Applied physics
Subject Keyword Algorithm design and analysis ♦ Navigation ♦ Robot kinematics ♦ Machine vision ♦ Robot vision systems ♦ Cameras ♦ Robot sensing systems ♦ Robustness ♦ Mobile robots ♦ Orbital robotics
Abstract This paper presents a new global vision system for tracking of multiple mobile robots, with special emphasis on following requirements: (i) high measurement precision and accuracy, (ii) robustness to light intensity changes, (iii) ability to track unlimited number of robots, and (iv) high speed and real time operation. In order to fulfill these requirements we use an IEEE 1394 camera with 80 fps, which delivers images in so called Bayer format. We also design a specific robot mark that enables measurement of robot locations directly in Bayer format image with subpixel precision. The developed vision system fulfils all of given requirements, which was verified by carefully performed experiments.
Description Author affiliation: Univ. of Zagreb, Zagreb (Brezak, M.; Petrovic, I.)
ISBN 9781424408504
ISSN 19354576
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2007-06-23
Publisher Place Austria
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 212.80 kB
Page Count 6
Starting Page 473
Ending Page 478


Source: IEEE Xplore Digital Library