Mobile robot sonar for target localization and classification
International Journal of Robotics Research
International Journal of Computer Vision - Special issue on image-based servoing
Scaled Euclidean 3D reconstruction based on externally uncalibrated cameras
ISCV '95 Proceedings of the International Symposium on Computer Vision
Time-optimal guidance control for an agricultural robot with orientation constraints
Computers and Electronics in Agriculture
Hi-index | 0.00 |
The Euclidean position and orientation of a wheeled mobile robot (WMR) is typically required for autonomous selection and control of agricultural operations in a greenhouse. A vision-based localization scheme is formulated as a desire to identify the position and orientation of a WMR navigating in a greenhouse by utilizing the image feedback of the above-the-aisle targets from an on-board camera. An innovative daisy chaining strategy is used to find the local coordinates of the above-the-aisle targets in order to localize a WMR. In contrast to typical camera configurations used for vision-based control problems, the localization scheme in this paper is developed using a moving on-board camera viewing reseeding targets. Multi-view photogrammetric methods are used to develop relationships between different camera frames and WMR coordinate systems. Experimental results demonstrate the feasibility of the developed geometric model.