Vision-based playback method of wheeled mobile robots

Authors:
Yoshiyuki Kagami;Takashi Emura;Masayuki Hiyama
Affiliations:
Department of Mechatronics and Precision Engineering, Tohoku University, 01 Aramaki-aza-Aoba, Aobaku, Sendai 980–8579 (Japan). E-mail: emura@emura.mech.tohoku.ac.jp://www.mecha ...;Department of Mechatronics and Precision Engineering, Tohoku University, 01 Aramaki-aza-Aoba, Aobaku, Sendai 980–8579 (Japan). E-mail: emura@emura.mech.tohoku.ac.jp://www.mecha ...;Department of Mechatronics and Precision Engineering, Tohoku University, 01 Aramaki-aza-Aoba, Aobaku, Sendai 980–8579 (Japan). E-mail: emura@emura.mech.tohoku.ac.jp://www.mecha ...
Venue:
Robotica
Year:
2000

Citing 1
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Panoramic representation for route recognition by a mobile robot

International Journal of Computer Vision - Special issue on machine vision research at Osaka University

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Abstract

This paper describes a new vision-based playback method of a wheeled mobile robot. The path of the robot is divided into straight line parts and curved line parts. The curved line parts were approximated by a Bézier curve to decrease the volume of data. In order to track the curved line parts with good accuracy, tracking errors were detected by referring to two pre-recorded images on one part of the curve. Then, the errors were corrected by adjusting the control points of the Bézier curve. Outdoor experiments demonstrated good repeatability by using the proposed method.