Position Estimation Algorithm Using Multiple UWB Wireless Transceivers and Laser Scanner and Its Application to Human Tracking of a Mobile Robot

2018 ◽  
Vol 2018.56 (0) ◽  
pp. 1310
Author(s):  
Oh Seong PARK ◽  
Jae Hoon LEE ◽  
Shingo OKAMOTO
Keyword(s):  
Mobile Robot ◽  
Laser Scanner ◽  
Estimation Algorithm ◽  
Position Estimation ◽  
Human Tracking ◽  
Wireless Transceivers

A position estimation system for mobile robots using a monocular image of a 3-D landmark

Robotica ◽  
1994 ◽  
Vol 12 (5) ◽  
pp. 431-441 ◽  
Author(s):  
Kyoung C. Koh ◽  
Jae S. Kim ◽  
Hyung S. Cho
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Estimation Algorithm ◽  
Position Estimation ◽  
Camera System ◽  
System A ◽  
The Neural Network ◽  
Monocular Image ◽  
Estimation System ◽  
Learning Data

SUMMARYThis paper presents an absolute position estimation system for a mobile robot moving on a flat surface. In this system, a 3-D landmark with four coplanar points and a non-coplanar point is utilized to improve the accuracy of position estimation and to guide the robot during navigation. Applying theoretical analysis, we investigate the image sensitivity of the proposed 3-D landmark compared with the conventional 2-D landmark. In the camera calibration stage of the experiments, we employ a neural network as a computational tool. The neural network is trained from a set of learning data collected at various points around the mark so that the extrinsic and intrinsic parameters of the camera system can be resolved. The overall estimation algorithm from the mark identification to the position determination is implemented in a 32-bit personal computer with an image digitizer and an arithmetic accelerator. To demonstrate the effectiveness of the proposed 3-D landmark and the neural network-based calibration scheme, a series of navigation experiments were performed on a wheeled mobile robot (LCAR) in an indoor environment. The results show the feasibility of the position estimation system applicable to mobile robot's real-time navigation.

Two-Dimensional Position Estimation Algorithm of Mobile Robot Using Single-Dimensional Distance Sensor

2017 ◽  
Vol 23 (10) ◽  
pp. 858-865
Author(s):  
Hyeong-Guk Jeon ◽  
Jin-Han Jeong ◽  
Jin-Soo Kim ◽  
Yook-Hyun Yoon ◽  
Jahng-Hyon Park
Keyword(s):  
Mobile Robot ◽  
Estimation Algorithm ◽  
Position Estimation ◽  
Two Dimensional ◽  
Distance Sensor

scholarly journals Human Tracking with a Mobile Robot using a Laser Range-Finder

2006 ◽  
Vol 24 (5) ◽  
pp. 605-613 ◽  
Author(s):  
Shinichi Okusako ◽  
Shigeyuki Sakane
Keyword(s):  
Mobile Robot ◽  
Human Tracking ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range
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