A single camera 360‐degree real time vision‐based localization method with application to mobile robot trajectory tracking. Issue 3 (30th May 2021)

• Record Type: Journal Article
• Authors: Singhirunnusorn, Khomsun; Fahimi, Farbod; Aygun, Ramazan
• Is Part Of: IET cyber-systems and robotics. Volume 3:Issue 3(2021)
• Page Start: 185
• Page End: 198
• Publication Date: 2021-05-30
• Subjects: Robotics -- Periodicals; Cybernetics -- Periodicals; Cybernetics; Robotics; Periodicals; 629
• DOI: 10.1049/csy2.12021
• Languages: English
• ISSNs: 2631-6315

Abstract

Abstract: A method is proposed for real‐time vision‐based localization in the 360° area around a three‐dimensional (3D) reference object with a single camera. The problem is split into three subproblems. First, 360° 3D object recognition is proposed, in which a computer vision solution can recognize a reference object from all possible 360° locations. Second, 360° pose estimation is presented, in which the pose of a robot at all locations is estimated. Third, a 360° localization application is integrated with a closed‐loop real‐time trajectory tracking controller. The successful results of simulations and real experiments of trajectory tracking are also presented.