Global Localization of Terminal Service Robot Based on PTZ Vision

Guo Chen Niu; Ping Xu; Qi Feng

doi:10.4028/www.scientific.net/AMM.58-60.2158

Paper Titles

Research on Key Techniques of ETG System
p.2134

Inventory Management in Competition Environment Based on Customer Service
p.2141

Research on Serial Communication Technology Based on Virtools
p.2147

Privacy Protection Schemes against Easy Information Access
p.2152

Global Localization of Terminal Service Robot Based on PTZ Vision
p.2158

Research on Airport Aviation Safety Information System
p.2165

Applications of Focused Ion Beam Technology in Bonding Failure Analysis for Microelectronic Devices
p.2171

Optimizing Navigation Satellite Enhancement Information Distribution Network Based on X10 and MPI
p.2177

A Case Study: Logical Operators and Statecharts for Level Crossing Traffic Control Systems
p.2183

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 58-60Global Localization of Terminal Service Robot...

Global Localization of Terminal Service Robot Based on PTZ Vision

Abstract:

According to environment characteristic of airport terminal, a simple and feasible global localization method of terminal service robot based on PTZ vision is presented. Terminal signs are searched intermittently along “S” trajectory and zoomed by PTZ camera. To sight them accurately, the PTZ vision behavior based on fuzzy logic controller is designed. Then the signs will be identified based on SIFT features, and the global location of the robot can be finally gotten according to their location information and geometric pattern. The validity and practicability of this method are confirmed by actual robot experiments.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 58-60)

Pages:

2158-2164

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.58-60.2158

Citation:

Cite this paper

Online since:

June 2011

Authors:

Guo Chen Niu, Ping Xu, Qi Feng

Keywords:

Global Localization, PTZ Camera, SIFT Features, Terminal Sign

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Li Mao-hai, Hong Bing-rong, Luo Rong-hua, Cai Ze-su. Monocular-Vision-Based Mobile Robot Global Localization. Robot, 2007, 229(2): 140-144.

Google Scholar

[2] Lu Hui-min, Zhang Hui, Zheng Zhi-qiang. A review of vision-based mobile robot's self-localization. Journal of Central South University. 2009, 40(1): 127-131.

Google Scholar

[3] Pan Liang-chen, Chen Wei-dong. Vision-Based Localization of Indoor Mobile Robot. Robot, 2006, 28(5): 504-509.

Google Scholar

[4] Civil Aviation Administration Of China. MH0005-1997. Civil Aviation graphical symbols for use on public information signs[S] , <http: /www. biaozhi. net. html, 1997>. 2008-11-13.

Google Scholar

[5] Zhu Shuang-dong, Liu Lan-lan, Lu Xiao-feng. Color-geometric model for traffic sign recognition. Chinese Journal of Scientific Instrument, 2007, 28(5): 956-960.

Google Scholar

[6] Cai Zi-xing, He Han-gen, Chen Hong. Some issues for mobile robots navigation under unknown environments. Control and Decision, 2002, 17 (4): 385-390.

Google Scholar