Pose tracking method using magnetic excitations with frequency division for robotic endoscopic capsules

Purpose The purpose of this paper is to propose an enhanced pose tracking method using progressive scan matching, focusing on accuracy, time efficiency and robustness. Design/methodology/approach The general purpose of localization algorithms is to dynamically track a robot instead of globally locating one. In this paper, progressive scan matching is used to promote the performance of pose tracking. Rotational and translational samples are separately generated to accelerate the calculation and to increase the accuracy. Progressive iteration of sample generation can ensure localization to achieve a specific precision. The direction of localization uncertainty is taken into consideration to increase robustness. Nonlinear optimization is adopted to achieve a more precise result. Findings The proposed method was implemented on a self-made mobile robot. Two experiments were conducted to test the accuracy and time efficiency of the method. The comparison with the basic Monte Carlo localization shows the advantages of the method. Another two experiments were conducted to test the robustness of the method. The result shows that the method can relocate a robot from an inaccurate place if the offset is moderate. Originality/value An enhanced pose tracking method is proposed to promote the performance by separately processing rotational and translational samples, progressively iterating the sample generation, taking the direction of localization uncertainty into consideration and adopting nonlinear optimization. The proposed method enables a robot to accurately and quickly locate itself in the environment with robustness.

Download Full-text

Real-time position and pose tracking method of moving object using visual servo system

The 2004 47th Midwest Symposium on Circuits and Systems, 2004. MWSCAS '04. ◽

10.1109/mwscas.2004.1354318 ◽

2004 ◽

Cited By ~ 2

Author(s):

A. Takio ◽

K. Kondo ◽

S. Kobashi ◽

Y. Hata

Keyword(s):

Real Time ◽

Servo System ◽

Moving Object ◽

Visual Servo ◽

Tracking Method ◽

Pose Tracking ◽

Time Position

Download Full-text

An Improved Template-Matching-Based Pose Tracking Method for Planar Nanopositioning Stages Using Enhanced Correlation Coefficient

IEEE Sensors Journal ◽

10.1109/jsen.2020.2977370 ◽

2020 ◽

Vol 20 (12) ◽

pp. 6378-6387

Author(s):

Hai Li ◽

Xianmin Zhang ◽

Sheng Yao ◽

Benliang Zhu ◽

Sergej Fatikow

Keyword(s):

Correlation Coefficient ◽

Template Matching ◽

Tracking Method ◽

Pose Tracking

Download Full-text

A robust iterative pose tracking method assisted by modified visual odometer

Sensor Review ◽

10.1108/sr-01-2020-0005 ◽

2020 ◽

Vol ahead-of-print (ahead-of-print) ◽

Author(s):

Rupeng Yuan ◽

Fuhai Zhang ◽

Yili Fu ◽

Shuguo Wang

Keyword(s):

Real Time ◽

Computational Efficiency ◽

Maximum Error ◽

Initial Value ◽

Content Type ◽

Tracking Method ◽

Pose Tracking ◽

Visual Odometer ◽

Local Map ◽

Error Direction

Purpose The purpose of this paper is to propose a robust iterative LIDAR-based pose tracking method assisted by modified visual odometer to resist initial value disturbance and locate a robot in the environments with certain occlusion. Design/methodology/approach At first, an iterative LIDAR-based pose tracking method is proposed. The LIDAR information is filtered and occupancy grid map is pre-processed. The sample generation and scoring are iterated so that the result is converged to the stable value. To improve the efficiency of sample processing, the integer-valued map indices of rotational samples are preserved and translated. All generated samples are analyzed to determine the maximum error direction. Then, a modified visual odometer is introduced for error compensation. The oriented fast and rotated brief (ORB) features are uniformly sampled in the image. A local map which contains key frames for reference is maintained. These two measures ensure that the modified visual odometer is able to return robust result which compensates the error of LIDAR-based pose tracking method in the maximum error direction. Findings Three experiments are conducted to prove the advantages of the proposed method. The proposed method can resist initial value disturbance with high computational efficiency, give back credible real-time result in the environment with abundant features and locate a robot in the environment with certain occlusion. Originality/value The proposed method is able to give back real-time pose tracking results with robustness. The iterative sample generation enables the robot to resist initial value disturbance. In each iteration, rotational and translational samples are separately generated to enhance computational efficiency. The maximum error direction of LIDAR-based pose tracking method is determined by principle component analysis and compensated by the result of modified visual odometer to give back correct pose in the environment with certain occlusion.

Download Full-text