Calibration and guidance of agents based on tubes

Wiek Vervoort

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    Abstract

    In order to correct the position and orientation of autonomous mobile robots in buildings TL-tubes can be used as landmarks. Low-budged properly calibrated cameras looking up towards the ceiling can be used to detect the position and orientation of the tubes and to correct the dead-reckoned robot position according to that measurement. The camera calibration- and image recognition algorithms for tubes that may be on or off, work under different outside building lightning conditions. The algorithms are described and are shown to be extremely simple. Experiments show that by using this method the positioning of the robots can be kept accurate, especially its orientation. The expected and measured errors are theoretically explained.
    Original languageEnglish
    Title of host publicationEnhanced and Synthetic Vision 1998
    EditorsJacques G. Verly
    Place of PublicationWashington, DC
    PublisherSPIE - The International Society for Optical Engineering
    Pages263-272
    Number of pages10
    ISBN (Print)0-8194-2813-2
    DOIs
    Publication statusPublished - Apr 1998
    EventInternational Symposium on AeroSense: Aerospace/Defense Sensing, Simulations and Controls 1998 - Orlando, United States
    Duration: 13 Apr 199817 Apr 1998

    Publication series

    NameProceedings of SPIE
    PublisherSPIE
    Volume3364

    Conference

    ConferenceInternational Symposium on AeroSense: Aerospace/Defense Sensing, Simulations and Controls 1998
    CountryUnited States
    CityOrlando
    Period13/04/9817/04/98

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  • Cite this

    Vervoort, W. (1998). Calibration and guidance of agents based on tubes. In J. G. Verly (Ed.), Enhanced and Synthetic Vision 1998 (pp. 263-272). (Proceedings of SPIE; Vol. 3364). Washington, DC: SPIE - The International Society for Optical Engineering. https://doi.org/10.1117/12.317478