Optical Flow-Based Monocular Vision/INS Integrated Navigation for Mobile Robot Indoors-Reference-Cited by-同舟云学术

Optical Flow-Based Monocular Vision/INS Integrated Navigation for Mobile Robot Indoors

Published:2014-04 Issue: Volume:538 Page:375-378
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Chen Xi Yuan¹,Gao Jing Peng¹,Xu Yuan¹,Li Qing Hua²

Affiliation:

1. Southeast University

2. Qilu University of Technology

Abstract

This paper proposed a new algorithm for optical flow-based monocular vision (MV)/ inertial navigation system (INS) integrated navigation. In this mode, a downward-looking camera is used to get the image sequences, which is used to estimate the velocity of the mobile robot by using optical flow algorithm. INS is employed for the yaw variation. In order to evaluate the performance of the proposed method, a real indoor test has done. The result shows that the proposed method has good performance for velocity estimation. It can be applied to the autonomous navigation of mobile robots when the Global Positioning System (GPS) and code wheel is unavailable.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.538.375.pdf

Reference8 articles.

1. Guillaume Blanc, Youcef Mezouar, Philippe Martinet. Indoor Navigation of a Wheeled Mobile Robot along Visual Routes,. Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Barcelona, Spain, April 2005, p.3354 – 3359.

2. W. Wang and D. Wang, Land vehicle navigation using odometry/ins/vision integrated system, in Proceedings 2008 IEEE Conference on Cybernetics and Intelligent Systems, Chengdu, China, 2008, p.754–759.

3. X. Song, L. Seneviratne, and K. Althoefer, A kalman filterintegrated optical flow method for velocity sensing of mobile robots, IEEE/ASME Transactions on Mechatronics, vol. 16, p.551 –563, Jun (2011).

4. E. Royer, M. Lhuillier, M. Dhome, and J. -M. Lavest, Monocular vision for mobile robot localization and autonomous navigation, Int. J. Comput. Vis., vol. 74, no. 3, p.237–260, (2007).

5. J. Shi, C. Tomasi, Good Features to Track, in IEEE Int. Conf. Computer Vision and Pattern Recognition., 1994, pp.593-600.

Cited by 2 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Optical Flow/INS Navigation System in Four-rotor;Proceedings of the 2019 5th International Conference on Systems, Control and Communications;2019-12-21

2. Automatic control of mobile robot based on autonomous navigation algorithm;Artificial Life and Robotics;2019-06-12