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一种使用多摄像头系统进行移动机器人定位的智能空间。

An intelligent space for mobile robot localization using a multi-camera system.

作者信息

Rampinelli Mariana, Covre Vitor Buback, de Queiroz Felippe Mendonça, Vassallo Raquel Frizera, Bastos-Filho Teodiano Freire, Mazo Manuel

机构信息

Department of Electro-Mechanics, Federal Institute of Education, Science and Technology of Espirito Santo (IFES), Estrada da Tartaruga, s/n, 29215-090, Guarapari, Espirito Santo, Brazil.

Department of Electrical Engineering, Federal University of Espirito Santo (UFES), Av. Fernando Ferrari, s/n, 29075-910, Vitoria, Espirito Santo, Brazil.

出版信息

Sensors (Basel). 2014 Aug 15;14(8):15039-64. doi: 10.3390/s140815039.

DOI:10.3390/s140815039
PMID:25196009
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC4179071/
Abstract

This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization.

摘要

本文描述了一个智能空间，其目标是对机器人或机器人轮椅进行定位和控制以帮助人们。这样一个智能空间有11个摄像头分布在两个实验室和一条走廊中。摄像头固定在环境中，图像采集同步进行。该系统被编程为具有TCP/IP连接的客户端/服务器，并定义了一种通信协议。客户端协调智能空间内的活动，服务器提供所需信息。一旦摄像头用于定位，就必须进行适当校准。因此，本文还提出了一种多摄像头网络的校准方法。使用一个机器人在摄像头的视野范围内移动校准图案。然后，将捕获的图像和机器人里程计用于校准。结果，所提出的算法同时为多摄像头校准和机器人定位提供了一种解决方案。使用计算机模拟和实际实验在不同场景下对智能空间和校准方法进行了评估。结果证明了智能空间的正常运行，并验证了多摄像头校准方法，该方法也改进了机器人定位。

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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8937/4179071/8f6affea5417/sensors-14-15039f12.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8937/4179071/a4a620ff3721/sensors-14-15039f13.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8937/4179071/b277070b3868/sensors-14-15039f14.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8937/4179071/6d86196d967c/sensors-14-15039f18.jpg

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Sensors (Basel). 2010;10(3):2274-314. doi: 10.3390/s100302274. Epub 2010 Mar 19.