文章基本信息

标题：A VISION-BASED TRAVELLED DISTANCE ESTIMATION ALGORITHM IN AN INDOOR ENVIRONMENT USING A MOBILE ROBOT
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作者：Diop, Mamadou ; Lim, Chot Hun ; Lim, Tien Sze 等
期刊名称：Journal of Computer Science
印刷版ISSN：1549-3636
出版年度：2014
卷号：10
期号：12
页码：2469-2480
DOI：10.3844/jcssp.2014.2469.2480
出版社：Science Publications
摘要：Autonomous navigation for a mobile robot still remains as a challenging area to be explored. In an indoor environment, while GPS is unavailable and wheel encoder suffer from error accumulation due to wheel slips, vision-based travelled distance estimation can be considered as an alternative approach for more accurate measurements. This study presents a new algorithm to estimate travelled distance of the mobile robot in an indoor environment. Using a downward looking camera, features points are detected from the floor texture and tracked with the Lucas-Kanade optical flow technique. The measurement accuracy of this algorithm will be put through several experiments on real scenarios which involve comparing the proposed techniques, running the algorithm on different type of indoor surface at different speed and different trajectories.
关键词：Optical Flow; Travelled Distance; Mobile Robot; Indoor Environment