TY - GEN
T1 - Vision locating method based RGB-D camera for amphibious spherical robots
AU - Tang, Kun
AU - Shi, Liwei
AU - Guo, Shuxiang
AU - Pan, Shaowu
AU - Xing, Huiming
AU - Su, Shuxiang
AU - Guo, Ping
AU - Chen, Zhan
AU - He, Yanlin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/23
Y1 - 2017/8/23
N2 - Location system is crucial to many intelligent robots, especially for underwater robots. To increase the autonomous ability of amphibious spherical robots in underwater environment, an underwater vision locating system was designed in this paper, and the ToF (time of fly) camera (RGB-D camera) was used and introduced in this system. Through the image capture from the camera in water, two kinds of image information could be acquired, which are include color image and depth image. The theoretical analysis show that the location of objective could be calculate easily from those image information. In underwater environment, the depth information attenuated, a calibration experiment for distance correction was designed. These results were used for the coordinate establishing. The construction of the experimental environment and final results were provided. Through the analysis of experimental results, the feasibility of the vision locating method based the RGB-D camera was verified and this system will be used for providing the location of amphibious spherical robots in the future work.
AB - Location system is crucial to many intelligent robots, especially for underwater robots. To increase the autonomous ability of amphibious spherical robots in underwater environment, an underwater vision locating system was designed in this paper, and the ToF (time of fly) camera (RGB-D camera) was used and introduced in this system. Through the image capture from the camera in water, two kinds of image information could be acquired, which are include color image and depth image. The theoretical analysis show that the location of objective could be calculate easily from those image information. In underwater environment, the depth information attenuated, a calibration experiment for distance correction was designed. These results were used for the coordinate establishing. The construction of the experimental environment and final results were provided. Through the analysis of experimental results, the feasibility of the vision locating method based the RGB-D camera was verified and this system will be used for providing the location of amphibious spherical robots in the future work.
KW - Amphibious Spherical Robot
KW - Depth sense
KW - Pinhole camera model
KW - RGB-D camera
KW - Vision locating method
UR - https://www.scopus.com/pages/publications/85030311480
U2 - 10.1109/ICMA.2017.8016040
DO - 10.1109/ICMA.2017.8016040
M3 - Conference contribution
AN - SCOPUS:85030311480
T3 - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
SP - 1509
EP - 1514
BT - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Y2 - 6 August 2017 through 9 August 2017
ER -