Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Three-Dimensional Pose Estimation of Neighbor Mobile Robots in Formation System Based on the Vision System

비전시스템 기반 군집주행 이동로봇들의 삼차원 위치 및 자세 추정

  • 권지욱 (아주대학교 전자공학부) ;
  • 박문수 (대한항공 MUAV 개발사업단 비행체개발팀) ;
  • 좌동경 (아주대학교 전자공학부) ;
  • 홍석교 (아주대학교 전자공학부)
  • Published : 2009.12.01
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Abstract

We derive a systematic and iterative calibration algorithm, and position and pose estimation algorithm for the mobile robots in formation system based on the vision system. In addition, we develop a coordinate matching algorithm which calculates matched sequence of order in both extracted image coordinates and object coordinates for non interactive calibration and pose estimation. Based on the results of calibration, we also develop a camera simulator to confirm the results of calibration and compare the results of simulations with those of experiments in position and pose estimation.

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References

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