Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A study on localization and compensation of mobile robot using fusion of vision and ultrasound

영상 및 거리정보 융합을 이용한 이동로봇의 위치 인식 및 오차 보정에 관한 연구

  • 장철웅 (한국산업기술대학 전자학과) ;
  • 정기호 (한국산업기술대학 전자학과) ;
  • 정대섭 (한국산업기술대학 Mechatronics) ;
  • 류제군 (인하대학 전자학과) ;
  • 심재홍 (한국산업기술대학 Mechatronics) ;
  • 이응혁 (한국산업기술대학 전자학과)
  • Published : 2006.10.27
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Abstract

A key component for autonomous mobile robot is to localize ifself. In this paper we suggest a vision-based localization and compensation of robot's location using ultrasound. Mobile robot travels along wall and searches each feature in indoor environment and transformed absolute coordinates of actuality environment using these points and builds a map. And we obtain information of the environment because mobile robot travels along wall. Localzation search robot's location candidate point by ultrasound and decide position among candidate point by features matching.

Keywords