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Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera

Songmin Jia, Ke Wang, Xiuzhi Li
2016 Journal of Robotics  
This paper proposes a novel monocular vision-based SLAM (Simultaneous Localization and Mapping) algorithm for mobile robot.  ...  In the tracking thread, a ground feature-based pose estimation method is employed to initialize the algorithm for the constraint moving of the mobile robot.  ...  Service Robot" and the Natural Science Foundation of China (61175087 and 61105033).  ... 
doi:10.1155/2016/7630340 fatcat:udba7l2qm5c45drafo2vr2w5ma

Mobile robot localization and path planning based on Feature recognition and Dijkastra's Algorithm

Vinicio, Soon-Geul, Insik
2017 Zenodo  
The 3D workspace is divided by triangulation, and a path planned for fast obstacle avoidance created by connecting the center points of each of the generated tetrahedrons using Dijkstra's algorithm.  ...  The local and the global position is obtained by scenario reconstruction, and feature recognition as the reference for localization.  ...  The Voronoi Diagram used in mobile robotics as in [25] , and also some algorithms using the optimization theory as is shown on [28] .  ... 
doi:10.5281/zenodo.5143820 fatcat:5ug56dvt2fg55k2vb2jc6tibs4

A Dynamic Fusion Pathfinding Algorithm Using Delaunay Triangulation and Improved A-star for Mobile Robots (January 2021)

Zhihai Liu, Hanbin Liu, Zhenguo Lu, Qingliang Zeng
2021 IEEE Access  
In this study, to improve the efficiency of mobile robot path planning, the Delaunay triangulation algorithm was used to process complex obstacles and generate Voronoi points as pathfinding priority nodes  ...  INDEX TERMS Delaunay triangulation, A-star algorithm, mobile robot, map modeling, path planning. 20602 This work is licensed under a Creative Commons Attribution 4.0 License.  ...  optimization of the mobile robot.  ... 
doi:10.1109/access.2021.3055231 fatcat:epgmb6dpu5d2jouds6g5yshgle

Landmark‐based navigation of industrial mobile robots

Huosheng Hu, Dongbing Gu
2000 Industrial robot  
A key issue being addressed is how to improve the localization accuracy for mobile robots in a continuous operation, in which the Kalman filter algorithm is adopted to integrate odometry data with scanner  ...  The Kohonen neural networks have been used to recognize landmarks using scanner data in order to initialize and recalibrate the robot position by means of triangulation when necessary.  ...  A recursive least square algorithm is adopted to optimize the landmark position during operation of the mobile robot.  ... 
doi:10.1108/01439910010378879 fatcat:cyuhsjzdmvgb5cmwwjdb3x6lau

Research on Cartographer Algorithm based on Low Cost Lidar

Cui Zhi, Tianjin University of Technology and Education
2019 International Journal of Engineering Research and  
Therefore, this paper takes a low-cost laser radar indoor mobile robot as the research object, and proposes a method to optimize the Cartographer algorithm parameters based on low-cost laser radar.  ...  The shortcomings of the aspect, and the parameter optimization method of the Cartographer algorithm is proposed for this shortcoming.  ...  The mobile robot used in the experiment is a two-wheel differential drive robot, as shown in Figure 1 . The installed industrial computer uses the Intel i3-4030u processor.  ... 
doi:10.17577/ijertv8is100060 fatcat:iv3ozjkc6rcmhkczlaker7zxai

Environment Mapping Algorithm Using Semantic Description and Constrained Delaunay Triangulation

Daniel Figurowski, Pawel Dworak
2019 Elektronika ir Elektrotechnika  
The article presents an innovative algorithm for mapping the environment by a mobile robot.  ...  The beforementioned triangulation method is used in that process. The performance of the proposed algorithm is tested in simulation studies.  ...  Similarly, to [16] , the Delaunay triangulation is used as a backbone of an environment map, which is explored by the robot.  ... 
doi:10.5755/j01.eie.25.6.24818 fatcat:mcwr43vbhjguzgi6dhlezteaqm

Triangulation-based fusion of sonar data with application in robot pose tracking

O. Wijk, H.I. Christensen
2000 IEEE Transactions on Robotics and Automation  
The algorithm has low complexity and is sufficiently fast for most mobile robot applications. As a case study, we apply the TBF algorithm to robot pose tracking.  ...  The TBF data is matched to pre-recorded reference maps of landmarks in order to measure the robot pose.  ...  There are many applications for the TBF algorithm in mobile robotics, for instance mapping and localization. In this article the case of robot pose tracking was studied.  ... 
doi:10.1109/70.897785 fatcat:tbsexatm55h3lk6jamnupz6gpu

Analysis by Synthesis, a Novel Method in Mobile Robot Self-Localization [chapter]

Alireza Fadaei Tehrani, Raúl Rojas, Hamid Reza Moballegh, Iraj Hosseini, Pooyan Amini
2005 Lecture Notes in Computer Science  
Fast and accurate self-localization is one of the most important problems in autonomous mobile robots.  ...  In the analysis phase, the local search algorithms find the exact position of the landmarks on the image from which the best matching coordinates of the robot are determined using a likelihood function  ...  the self-localization algorithm used by the robots.  ... 
doi:10.1007/978-3-540-32256-6_55 fatcat:qitcqma3prguvcetohgt42npuq

WLAN based Pose Estimation for Mobile Robots

Christof Röhrig, Frank Künemund
2008 IFAC Proceedings Volumes  
The proposed technique for localizing a mobile robot is based on the use of received signal strength values of WLAN access points in range.  ...  of the beam antenna is used to estimate the heading of the robot.  ...  LOCALIZATION APPROACH The proposed method for localizing the mobile robot is based on the use of RSS values of WLAN APs in range.  ... 
doi:10.3182/20080706-5-kr-1001.01768 fatcat:qojk3nfrgrgprdwrn62wvnl6ey

Mobile Robot Localization: A Review of Probabilistic Map-Based Techniques

Salvador Manuel Malagon-Soldara, Manuel Toledano-Ayala, Genaro Soto-Zarazua, Roberto Valentin Carrillo-Serrano, Edgar Alejandro Rivas-Araiza
2015 IAES International Journal of Robotics and Automation  
In this calculation, best known as localization, it is necessary to develop most of the tasks delegated to the mobile robot.  ...  This work presents a comprehensive review of current probabilistic developments used to calculate position by mobile robots in indoor environments.  ...  ACKNOWLEDGEMENTS The authors want to thank for their finantial support to: -Consejo Nacional de Ciencia y Tecnolgia, Mexico. -FOFI, Universidad Autonoma de Queretaro, Mexico.  ... 
doi:10.11591/ijra.v4i1.pp73-81 fatcat:45nv2jsddvg43pkxduzpk3vfpi

Simultaneous localization and uncertainty reduction on maps (SLURM): Ear based exploration

Ioannis Rekleitis
2012 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
The problem of localizing a camera sensor network by employing a mobile robot will be used to demonstrate the effect that different parameters of the ear-based exploration strategy have on the speed of  ...  Efficient exploration requires minimizing traversal of previously mapped territory, accurate mapping necessitates that the robot goes through previously mapped areas to reduce the accumulated uncertainty  ...  This work was performed at the Mobile Robotics Lab of Professor Gregory Dudek.  ... 
doi:10.1109/robio.2012.6491016 dblp:conf/robio/Rekleitis12 fatcat:ux7cbyyk4na6rdlt5hmiqsw66i

Joint Solution for the Online 3D Photorealistic Mapping Using SfM and SLAM

Hyunga Choi, ChangHyun Jun, Shang Li Yuen, HyunGi Cho, Nakju Lett Doh
2013 International Journal of Advanced Robotic Systems  
The way of combination is to use SfM for the generation of local maps and to utilize SLAM for a fusion of local maps in a globally consistent manner.  ...  This paper proposes a novel hybrid solution of SfM (Structure from Motion) and SLAM (Simultaneous Localization And Mapping) for the online generation of a 3D photorealistic map.  ...  ., to build a consistent 3D map while estimating the location of a mobile robot, has been one of the major issues in computer vision and robotic research.  ... 
doi:10.5772/52854 fatcat:kj65eyqpize25otxhso4bxp4me

Mobile Robot Intelligence Based SLAM Features Learning and Navigation

Ebrahim Mattar et. al.
2018 International Journal of Computing and Digital Systems  
A Neuro-Fuzzy intelligence paradigm was used to learn navigation maps (SLAM) main visual features, distances, nature of localities as it travels within spaces.  ...  Intelligence was achieved by considering the navigation capabilities while the mobile robot was in motion.  ...  The research team also acknowledges the experimental works done by Mr. M. Emad AlDean, and for the valuable image and data recording.  ... 
doi:10.12785/ijcds/070103 fatcat:pirdw6duyzhnhe5u4ldgnaipve

An opportunistic linear-convex algorithm for localization in mobile robot networks [article]

Sam Safavi, Usman Khan
2017 arXiv   pre-print
In the case of such mobile networks, the main challenge is that the robots may not be able to find nearby robots to implement a distributed algorithm.  ...  We abstract the corresponding localization algorithm as a Linear Time-Varying (LTV) system and show that it asymptotically converges to the true locations of the robots.  ...  When the map of the environment is not available a priori, Simultaneous Localization and Mapping techniques, [10] - [13] , can be used to build a map of an unexplored environment by a mobile robot, while  ... 
arXiv:1703.06387v1 fatcat:ohtzrugyize57ny7lc7dfwqudm

Local Policies for Efficiently Patrolling a Triangulated Region by a Robot Swarm [article]

Daniela Maftuleac, Seoung Kyou Lee, Sandor P. Fekete, Aditya Kumar Akash, Alejandro Lopez-Ortiz, James McLurkin
2014 arXiv   pre-print
A large number of stationary "mapping" robots cover and triangulate the environment and a smaller number of mobile "patrolling" robots move amongst them.  ...  We present and analyze methods for patrolling an environment with a distributed swarm of robots. Our approach uses a physical data structure - a distributed triangulation of the workspace.  ...  The mapping robots use our MATP triangulation algorithm [3] , [7] , [11] , to explore and triangulate the environment.  ... 
arXiv:1410.2295v1 fatcat:k443sknh3vhhboxl5lkch67khm
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