$\require{mediawiki-texvc}$
  • 검색어에 아래의 연산자를 사용하시면 더 정확한 검색결과를 얻을 수 있습니다.
  • 검색연산자
검색연산자 기능 검색시 예
() 우선순위가 가장 높은 연산자 예1) (나노 (기계 | machine))
공백 두 개의 검색어(식)을 모두 포함하고 있는 문서 검색 예1) (나노 기계)
예2) 나노 장영실
| 두 개의 검색어(식) 중 하나 이상 포함하고 있는 문서 검색 예1) (줄기세포 | 면역)
예2) 줄기세포 | 장영실
! NOT 이후에 있는 검색어가 포함된 문서는 제외 예1) (황금 !백금)
예2) !image
* 검색어의 *란에 0개 이상의 임의의 문자가 포함된 문서 검색 예) semi*
"" 따옴표 내의 구문과 완전히 일치하는 문서만 검색 예) "Transform and Quantization"
쳇봇 이모티콘
안녕하세요!
ScienceON 챗봇입니다.
궁금한 것은 저에게 물어봐주세요.

논문 상세정보

이동로봇을 위한 IR 랜드마크 기반의 실시간 실내 측위 시스템

A Real-time Localization System Based on IR Landmark for Mobile Robot in Indoor Environment

Abstract

The localization is one of the most important issues for mobile robot. This paper describes a novel localization system for the development of a location sensing network. The system comprises wirelessly controlled infrared landmarks and an image sensor which detects the pixel positions of infrared sources. The proposed localization system can operate irrespective of the illumination condition in the indoor environment. We describe the operating principles of the developed localization system and report the performance for mobile robot localization and navigation. The advantage of the developed system lies in its robustness and low cost to obtain location information as well as simplicity of deployment to build a robot location sensing network. Experimental results show that the developed system outperforms the state-of-the-art localization methods.

참고문헌 (15)

  1. Fuji-Keizai USA, Inc., 'Wireless sensing networks: Market, R&D and commercialization activities,' Market Research Report, Feb. 2004 
  2. K. Pahlavan, X. Li, and J. Makela, 'Indoor geolocation science and technology,' IEEE Communications Magazine, pp. 112-118, Feb. 2002 
  3. T. S. Rappaport, J. H. Reed, and B. D. Woerner, 'Position location using wireless communications on highways of the future,' IEEE Communications Magazine, pp. 33-41, Oct. 1996 
  4. K. Yamano, et al., 'Self-localization of mobile robots with RFlD system by using support vector machine,' IEEE Int. Conf. Intell. Robots and Systems, pp. 3756-3761, 2004 
  5. J. Y. Lee and R. A. Scholtz, 'Ranging in a dense mutipath environment using and UWB radio link,' IEEE J. Selected Areas in Communications, vol. 20, no. 9, Dec. 2002 
  6. The Ubisense Smart Space Platform, http://www.ubisense.net 
  7. D. C. K. Yuen and B. A. MacDonald, 'Vision-based localization algorithm based on landmark matching, triangulation, reconstruction, and comparison,' IEEE Trans. Robotics, vol. 21, no. 2, pp. 217-226, Apr. 2005 
  8. J. Hightower and G. Borriello, 'Location systems for ubiquitous computing,' IEEE Computer, vol. 34, no. 8, pp. 57-66, Aug. 2001 
  9. J. H. Lee, K. Morioka, N. Ando, H. Hashimoto, 'Cooperation of distributed intelligent sensors in intelligent environment,' IEEE/ASME Trans. Mechatronics, vol. 9, no. 3, Sep. 2004 
  10. N. Y. Chong, H. Hongu, K. Ohba, S. Hirai, and K. Tanie, 'A distributed knowledge network for real world robot applications,' IEEE Int. Conf. Intell. Robots and Systems, pp. 187-192, 2004 
  11. D. Haehnet, W. Burgard, D. Fox, K. P. Fishkin, and M. Philipose, 'Mapping and localization with RFID technology,' IEEE Int. Conf. Robotics and Automation, pp. 1015-1020, 2004 
  12. W. Lin, S. Jia, T. Abe, and K. Takase, 'Localization of mobile robot based on ID tag and WEB camera,' IEEE Int. Conf. Robotics and Mechatronics, pp. 851-856, 2004 
  13. Y. Nagumo and A. Ohya, 'Human following behavior of and autonomous mobile robot using light-emitting device,' IEEE Int. Workshop on Robot and Human Interaction, pp. 18-21, 2001 
  14. J. S. Park and M. J. Chung, 'Path plamming with uncalibrated stereo rig for image-based visual servoing under large pose discrepancy,' IEEE Trans. Robotics and Automation, vol. 19, no. 2, pp. 250-258, Apr. 2003 
  15. Z. Zhang, 'Flexible camera calibration by viewing a plane from unknown orientations,' IEEE Int. Conf. Computer Vision, 1999 

이 논문을 인용한 문헌 (3)

  1. Son, Chang-Woo ; Lee, Seung-Heui ; Lee, Min-Cheol 2008. "Localization System for Mobile Robot Using Electric Compass and Tracking IR Light Source" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 14(8): 767~773 
  2. Han, Cheol-Hun ; Sim, Kwee-Bo 2010. "Real-Time Mapping of Mobile Robot on Stereo Vision" 한국지능시스템학회 논문지 = Journal of Korean institute of intelligent systems, 20(1): 60~65 
  3. Ahn, Jae-Wan ; Jin, Ji-Yong ; Chung, Woo-Jin 2010. "Experimental Research on the Characteristics of Indoor Positioning Systems and Mobile Robot Navigation" 로봇학회논문지 = The journal of Korea Robotics Society, 5(3): 231~239 

원문보기

원문 PDF 다운로드

  • ScienceON :

원문 URL 링크

원문 PDF 파일 및 링크정보가 존재하지 않을 경우 KISTI DDS 시스템에서 제공하는 원문복사서비스를 사용할 수 있습니다. (원문복사서비스 안내 바로 가기)

상세조회 0건 원문조회 0건

이 논문과 연관된 기능

DOI 인용 스타일