DOI 10.17586/0021-3454-2017-60-9-858-862
UDC 621.3
MOBILE ROBOT LOCATION USING STRUCTURAL ANALYSIS OF IMAGES
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate
Y. V. Litvinov
ITMO University, Saint Petersburg, 197101, Russian Federation; Senior lecturer
V. V. Mazulina
Technical University of Eindhoven, Eindhoven, 5600MB, Netherlands; postgraduate
M. M. Chashchina
student; ITMO University, Saint Petersburg, 197101, Russian Federation
Read the full article
Abstract. An algorithm for visual navigation of autonomous mobile robot and determination of its position in uncertain environment using computer vision system is considered. The algorithm employs comparison of three-dimensional scene images based on comparison of the local images.
Keywords: mobile robot, machine vision, navigation, onboard control complex, information progressing
References:
References:
- Evstigneev M.I., Litvinov Yu.V., Mazulina V.V., Mishchenko G.M. Journal of Instrument Engineering, 2015, no. 9(58), рр.738–741. (in Russ.)
- Evstigneev M.I., Gao L., Litvinov Yu.V., Lazarevich A.A., Lazarevich A.A., Mazulina V.V., Mishchenko G.M., Frolov S.V., Frolov S.N., Litvinov Yu.V.Nauka i tekhnologii: shag v budushchee –2014 (Science and technologies: step to the future –2014), Proceedings of X International Scientific and Practical Conference, Praga, 2014, vol. 34, рр. 40–45. (in Russ.)
- Karavaev Yu.L., Trefilov S.A. Russian Journal of Nonlinear Dynamics, 2013, no. 1(9), рр. 91–100. (in Russ.)
- Litvinov Yu.V., Mazulina V.V., Frolov S.N., Salmygin I.P., Bushuev A.B. Sistemy obrabotki informatsii. Informatsionnye problemy teorii akusticheskikh, radioelektronnykh i telekommunikatsionnykh sistem, 2013, no. 7(114), рр. 24–26. (in Russ.)
- García M.A., Solanas A. Intern. Conf. on Robotics and Automation, 2004, no. 1, рр. 847–853.
- Malashin R.O. Journal of Optical Technology, 2014, no. 6(81), рр. 34–42. (in Russ.)
- Dissanayake G., Newman P., Clark S., Durrant-Whyte H.F., Csorba M. IEEE Transact. on Robotics and Automation, 2001, no. 3(17), рр. 91–110.
- Liu Yang, Zhang Hong. Proc. of the Intern. Conf. on Intelligent Robots and Systems (IROS), 2012, рp. 1051–1056.
- David L. Proc. of the Intern. Conf. on Computer Vision, 1999, рp. 38–39.
- Ortiz R., Vandergheynst P. Proc. of the 25th IEEE Conf. on Computer Vision and Pattern Recognition, 2012, рp. 510–517.
- Csurka G., Dance C., Fan L., Willamowski J., Bray C. ECCV Workshop on Statistical Learning for Computer Vision, 2004, no. 22(1), рр. 1–22.
- Lowe D. Intern. Journal of Computer Vision, 2004, no. 2(60), рр. 91–110.
