A vision-based travelled distance estimation algorithm in an indoor environment using a mobile robot

Diop, Mamadou and Lim, Chot Hun and Lim, Tien Sze and Ong, Lee Yeng (2014) A vision-based travelled distance estimation algorithm in an indoor environment using a mobile robot. Journal of Computer Science, 10 (12). pp. 2469-2480. ISSN 1549-3636

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Abstract

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.

Item Type: Article
Subjects: Q Science > Q Science (General)
Q Science > QA Mathematics > QA75.5-76.95 Electronic computers. Computer science
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering and Technology (FET)
Faculty of Information Science and Technology (FIST)
Depositing User: Ms Suzilawati Abu Samah
Date Deposited: 12 May 2015 09:31
Last Modified: 12 May 2015 09:31
URI: http://shdl.mmu.edu.my/id/eprint/6023

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