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- 摘要
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- 实验方案
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Intelligent Indoor Mobile Robot Navigation Using Stereo Vision
摘要： Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding environment. Stereo vision,while still being a rapidly developing technique in the field of autonomous mobile robots, are currently less preferable due to its high implementation cost. This paper aims at describing an experimental approach for the building of a stereo vision system that helps the robots to avoid obstacles and navigate through indoor environments and at the same time remaining very much cost effective. This paper discusses the fusion techniques of stereo vision and ultrasound sensors which helps in the successful navigation through different types of complex environments. The data from the sensor enables the robot to create the two dimensional topological map of unknown environments and stereo vision systems models the three dimension model of the same environment.
关键词： Point clouds,Triangulation,SLAM,Arduino,Stereo vision system
更新于2025-09-23 15:23:52
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[IEEE 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) - Singapore, Singapore (2018.11.18-2018.11.21)] 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) - Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth
摘要： This paper presents a comparative analysis of three most common ROS-based 2D Simultaneous Localization and Mapping (SLAM) libraries: Google Cartographer, Gmapping and Hector SLAM, using a metric of average distance to the nearest neighbor (ADNN). Each library was applied to construct a map using data from 2D lidar that was placed on an autonomous mobile robot. All the approaches have been evaluated and compared in terms of inaccuracy constructed maps against the precise ground truth presented by FARO laser tracker in static indoor environment.
关键词： ground truth,ADNN,lidar,ROS,map comparison,SLAM
更新于2025-09-23 15:23:52
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[IEEE IGARSS 2018 - 2018 IEEE International Geoscience and Remote Sensing Symposium - Valencia (2018.7.22-2018.7.27)] IGARSS 2018 - 2018 IEEE International Geoscience and Remote Sensing Symposium - 3D Data Acquisition Using Stereo Camera
摘要： Computer vision systems allow digital reconstruction of targets by capturing information through remote sensors such as video cameras and scanners. In this context, the objective of this work was to evaluate the capacity and quality of three-dimensional reconstruction of static targets using the ZED stereoscopic camera. For this goal, we took images of several environments and objects with different surfaces, textures, lighting, distances and acquisition speeds. The results were compared with high-density and high precision point clouds obtained from the targets using a Leica Viva TS15 total station. The data were processed in the CloudCompare software to calculate the displacement between the models generated by the camera and the total station. Under certain circumstances, this technology is able to reconstruct three-dimensional objects and environments with an error of a few centimeters.
关键词： Machine Vision,Mesh,Point Cloud,ZED Camera,SLAM
更新于2025-09-23 15:23:52
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[IEEE 2018 International Conference on Information and Communication Technology Robotics (ICT-ROBOT) - Busan, Korea (South) (2018.9.6-2018.9.8)] 2018 International Conference on Information and Communication Technology Robotics (ICT-ROBOT) - Global Map Generation using LiDAR and Stereo Camera for Initial Positioning of Mobile Robot
摘要： A lot of researches have been made on how to know the position of the mobile robot when it knows the initial position of the mobile robot. For the robot to be completely unmanned, the robot also needs to find out its own initial position. To do this, it is necessary to obtain enough data to estimate the initial position without previous data. In Simultaneous Localization and Mapping (SLAM), Light Detection and Ranging (LiDAR) is often used to obtain accurate map for mobile robot. In this case, it is difficult to find the initial position because there is little information at initial start-up. On the other hand, stereo camera has the advantage that it can acquire more information than LiDAR by acquiring spatial information with the same principle as the human eye. However, the obtained 3D spatial information has a disadvantage of low precision. The purpose of this paper is to form a 3D map to be used for finding the initial position by linking LRF information to compensate for the low accuracy of the 3D map made only by the stereo camera in the environment.
关键词： 3D Map,Stereo Camera,LiDAR,Initial Positioning,SLAM
更新于2025-09-23 15:23:52
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Lane-Level Localization and Mapping in GNSS-Challenged Environments by Fusing Lidar Data and Cellular Pseudoranges
摘要： A method for achieving lane-level localization in global navigation satellite system (GNSS)-challenged environments is presented. The proposed method uses the pseudoranges drawn from unknown ambient cellular towers as an exclusive aiding source for a vehicle-mounted light detection and ranging (lidar) sensor. The following scenario is considered. A vehicle aiding its lidar with GNSS signals enters an environment where these signals become unusable. The vehicle is equipped with a receiver capable of producing pseudoranges to unknown cellular towers in its environment. These pseudoranges are fused through an extended Kalman filter (EKF) to aid the lidar odometry, while estimating the vehicle’s own state (three-dimensional position and orientation) simultaneously with the position of the cellular towers and the difference between the receiver’s and cellular towers’ clock error states (bias and drift). The proposed method is computationally efficient and is demonstrated to achieve lane-level accuracy in different environments. Simulation and experimental results with the proposed method are presented illustrating a close match between the vehicle’s true trajectory and that estimated using the cellular-aided lidar odometry over a 1 km trajectory. A 60% reduction in localization error is obtained over the lidar odometry-only approach.
关键词： Lidar,Signals of opportunity,SLAM,Cellular
更新于2025-09-23 15:23:52
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[IEEE 2018 IEEE International Conference on RFID Technology & Application (RFID-TA) - Macau, Macao (2018.9.26-2018.9.28)] 2018 IEEE International Conference on RFID Technology & Application (RFID-TA) - A Multi-Antenna SAR-based method for UHF RFID Tag Localization via UGV
摘要： This paper presents a multi-antenna approach of the phase-based SARFID method to locate static tags by employing two UHF-RFID reader antennas installed on an Unmanned Grounded Vehicle (UGV). The UGV is remote-controlled and equipped with Laser Range Finder sensors to move inside an indoor environment, and the knowledge of its trajectory is achieved through a Simultaneous Localization And Mapping procedure. By processing the phase data collected from each reader antenna, different matching functions can be obtained and combined to improve the estimation of the bi-dimensional tag position. Differently from other localization techniques, neither reference tags (anchor tags), nor large phased array antennas are required.
关键词： Multiple RFID Antennas,UGV,UHF-RFID localization,SLAM,Robot,RFID retail applications,RFID UGV,Passive UHF-RFID system,SARFID
更新于2025-09-23 15:22:29
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[IEEE OCEANS 2018 MTS/IEEE Charleston - Charleston, SC, USA (2018.10.22-2018.10.25)] OCEANS 2018 MTS/IEEE Charleston - Developments and applications of underwater LiDAR systems in support of marine science
摘要： Light Detection and Ranging (LiDAR) has been used extensively to accumulate high-resolution topographical data in air. Over the last few decades, the technology has been extended to capture bathymetric data in coastal waters. With a large portion of the ocean unmapped, there is opportunity for technology advancement to deliver improved quality and efficiency in the mapping of shallow water regions. This paper assesses existing technology and the history of underwater LiDAR profiling and bathymetric mapping to identify potential opportunities for future growth. Alternative uses for laser ranging systems, both subsea and in-air will drive expected system specifications. The findings assist with classifying important design choices that drive the functionality and suitability of a LiDAR for different marine science applications.
关键词： ranging,SLAM,bathymetry,subsea,topography,lidar,underwater
更新于2025-09-23 15:22:29
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Iteratively Reweighted Midpoint Method for Fast Multiple View Triangulation
摘要： The classic midpoint method for triangulation is extremely fast, but usually labelled as inaccurate. We investigate the cost function that the midpoint method tries to minimize, and the result shows that the midpoint method is prone to underestimate the accuracy of the measurement acquired relatively far from the 3D point. Accordingly, the cost function used in this work is enhanced by assigning a weight to each measurement, which is inversely proportional to the distance between the 3D point and the corresponding camera center. After analyzing the gradient of the modified cost function, we propose to do minimization by applying fixed-point iterations to find the roots of the gradient. Thus the proposed method is called the iteratively reweighted midpoint method. In addition, a theoretical study is presented to reveal that the proposed method is an approximation to the Newton's method near the optimal point, and hence inherits the quadratic convergence rate. At last, the comparisons of the experimental results on both synthetic and real datasets demonstrate that the proposed method is more efficient than the state-of-the-art while achieves the same level of accuracy.
关键词： SLAM,Visual-Based Navigation,Localization,Mapping
更新于2025-09-23 15:22:29
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Through-water Stereo SLAM with Refraction Correction for AUV Localization
摘要： In this work, we propose a novel method for underwater localization using natural visual landmarks above the water surface. High-accuracy, drift-free pose estimates are necessary for inspection tasks in underwater indoor environments, such as nuclear spent pools. Inaccuracies in robot localization degrade the quality of its obtained map. Our framework uses sparse features obtained via an onboard upward-facing stereo camera to build a global ceiling feature map. However, adopting the pinhole camera model without explicitly modeling light refraction at the water-air interface contributes to a systematic error in observations. Therefore, we use refraction-corrected projection and triangulation functions to obtain true landmark estimates. The SLAM framework jointly optimizes vehicle odometry and point landmarks in a global factor graph using an incremental smoothing and mapping backend. To the best of our knowledge, this is the first method that observes in-air landmarks through water for underwater localization. We evaluate our method via both simulation and real-world experiments in a test-tank environment. The results show accurate localization across various challenging scenarios.
关键词： SLAM,Marine Robotics,Localization
更新于2025-09-23 15:22:29
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SLAM-aided forest plot mapping combining terrestrial and mobile laser scanning
摘要： Precise structural information collected from plots is significant in the management of and decision-making regarding forest resources. Currently, laser scanning is widely used in forestry inventories to acquire three-dimensional (3D) structural information. There are three main data-acquisition modes in ground-based forest measurements: single-scan terrestrial laser scanning (TLS), multi-scan TLS and multi-single-scan TLS. Nevertheless, each of these modes causes specific difficulties for forest measurements. Due to occlusion effects, the single-scan TLS mode provides scans for only one side of the tree. The multi-scan TLS mode overcomes occlusion problems, however, at the cost of longer acquisition times, more human labor and more effort in data preprocessing. The multi-single-scan TLS mode decreases the workload and occlusion effects but lacks the complete 3D reconstruction of forests. These problems in TLS methods are largely avoided with mobile laser scanning (MLS); however, the geometrical peculiarity of forests (e.g., similarity between tree shapes, placements, and occlusion) complicates the motion estimation and reduces mapping accuracy. Therefore, this paper proposes a novel method combining single-scan TLS and MLS for forest 3D data acquisition. We use single-scan TLS data as a reference, onto which we register MLS point clouds, so they fill in the omission of the single-scan TLS data. To register MLS point clouds on the reference, we extract virtual feature points that are sampling the centerlines of tree stems and propose a new optimization-based registration framework. In contrast to previous MLS-based studies, the proposed method sufficiently exploits the natural geometric characteristics of trees. We demonstrate the effectiveness, robustness, and accuracy of the proposed method on three datasets, from which we extract structural information. The experimental results show that the omission of tree stem data caused by one scan can be compensated for by the MLS data, and the time of the field measurement is much less than that of the multi-scan TLS mode. In addition, single-scan TLS data provide strong global constraints for MLS-based forest mapping, which allows low mapping errors to be achieved, e.g., less than 2.0 cm mean errors in both the horizontal and vertical directions.
关键词： MLS,Single-scan TLS,Forest mapping,SLAM,LiDAR
更新于2025-09-23 15:21:01