TAILIEUCHUNG - Advances in Service Robotics Part 9

Tham khảo tài liệu 'advances in service robotics part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 12 Development of a Sensor System for an Outdoor Service Robot Takeshi Nishida1 Masayuki Obata2 Hidekazu Miyagawa2 and Fujio Ohkawa1 1Kyushu Institute of Technology 2YASKAWA INFORMATION SYSTEMS Corporation Japan 1. Introduction In general service robots are equipped with multiple types of sensor for environmental recognition and to avoid the measurement error that occurs by various measurement noises. Especially for the robots that work in outdoor environments cameras and LRFs Laser Rangefinders are the most useful sensor devices and they have been installed into many prototype service robots. Robots can acquire texture color shadow etc. of objects or a scene via cameras and execute various tasks . landmark recognition face recognition target tracking etc. based on those information. Moreover the stereovision composed by using two or more cameras can acquire 3D information on the scene. However the distance measurement of the objects with difficulty of decision of correspondence of feature points such as walls without texture and shadow is difficult. Furthermore when the strength of environmental light change that exceeds the dynamic range of the camera image sensor occurs the measurement accuracy greatly falls DeSouza et al. 2002 . On the other hand LRF is a device which uses a laser beam in order to determine the distance to a reflective object and then the distance with comparatively high accuracy can be measured even in the situation in which the measurement with the camera becomes unstable. Therefore the LRF is frequently used for localization map building and running route inspection of autonomous mobile robots. However the calculation algorithm to recognize the target object by using the LRF is very complex the calculation cost is also high and have following disadvantages 1. The range data sometimes involve lack of data called black spots around the corner or the edge of the objects. 2. The range data involves quantization errors owing to measurement .

TỪ KHÓA LIÊN QUAN
TÀI LIỆU MỚI ĐĂNG
Đã phát hiện trình chặn quảng cáo AdBlock
Trang web này phụ thuộc vào doanh thu từ số lần hiển thị quảng cáo để tồn tại. Vui lòng tắt trình chặn quảng cáo của bạn hoặc tạm dừng tính năng chặn quảng cáo cho trang web này.