Geometric Camera Calibration Using Circular Control Points
IEEE Transactions on Pattern Analysis and Machine Intelligence
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ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
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IJCAI '99 Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence
ISMAR '02 Proceedings of the 1st International Symposium on Mixed and Augmented Reality
POSTRACK: A Low Cost Real-Time Motion Tracking System for VR Application
VSMM '01 Proceedings of the Seventh International Conference on Virtual Systems and Multimedia (VSMM'01)
A Navigation System for Assistant Robots Using Visually Augmented POMDPs
Autonomous Robots
Towards an intelligent and supportive environment for people with physical or cognitive restrictions
Proceedings of the 2nd International Conference on PErvasive Technologies Related to Assistive Environments
Managing Intelligent Services for People with Disabilities and Elderly People
UAHCI '09 Proceedings of the 5th International on ConferenceUniversal Access in Human-Computer Interaction. Part II: Intelligent and Ubiquitous Interaction Environments
An architecture for assisted navigation in intelligent environments
International Journal of Communication Networks and Distributed Systems
Comparison of stochastic filtering methods for 3D tracking
Pattern Recognition
Self-organized multi-agent system for robot deployment in unknown environments
IWINAC'11 Proceedings of the 4th international conference on Interplay between natural and artificial computation - Volume Part I
Identification and tracking of robots in an intelligent space using static cameras and an XPFCP
Robotics and Autonomous Systems
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This paper presents a new proposal for positioning and guiding mobile robots in indoor environments. The proposal is based on the information provided by static cameras located in the movement environment. This proposal falls within the scope of what are known as intelligent environments; in this case, the environment is provided with cameras that, once calibrated, allow the position of the robots to be obtained. Based on this information, control orders for the robots can be generated using a radio frequency link. In order to facilitate identification of the robots, even under extremely adverse ambient lighting conditions, a beacon consisting of four circular elements constructed from infrared diodes is mounted on board the robots. In order to identify the beacon, an edge detection process is carried out. This is followed by a process that, based on the algebraic distance, obtains the estimated ellipses associated with each element of the beacon. Once the beacon has been identified, the coordinates of the centroids for the elements that make up the beacon are obtained on the various image planes. Based on these coordinates, an algorithm is proposed that takes into account the standard deviation of the error produced in the various cameras in ascertaining the coordinates of the beacon's elements. An odometric system is also used in guidance that, in conjunction with a Kalman Filter, allows the position of the robot to be estimated during the time intervals required to process the visual information provided by the cameras.