A Multi-Binocular Camera-based Localization Method for Amphibious Spherical Robots

Mugen Zhou, Shuxiang Guo, Liwei Shi, Huiming Xing, Xihuan Hou, He Yin, Yu Liu, Yao Hu, Debin Xia, Zan Li

科研成果: 书/报告/会议事项章节会议稿件同行评审

2 引用 (Scopus)

摘要

This paper presents a novel multi-binocular camera based localization method with panoramic view and high precision for amphibious spherical robots. In our previous work, the proposed approach based on RGB-D camera and inertial measurement unit (IMU) realized a cooperative and relatively close-range localization. While, position drifts caused by the rotation movement and short positioning range of RGB-D camera in underwater environments are the drawbacks of the previous approach. This paper designs a multi-binocular camera system on the amphibious spherical robot, which makes the robot observe targets in a nearly 360-degree visual range without rotation movement. Meanwhile, through the stereo vision model, the robot obtains the position information about the target robot. Then, according to the position information and the relative position of the binocular cameras, the cooperative localization model is established. To validate the proposed approach, experiments were performed in gazebo simulator with varying distances and relative degree. Compared with the previous works, the proposed localization method reveals higher accuracy and robustness.

源语言英语
主期刊名2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
出版商Institute of Electrical and Electronics Engineers Inc.
797-802
页数6
ISBN(电子版)9781728164151
DOI
出版状态已出版 - 13 10月 2020
活动17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 - Beijing, 中国
期限: 13 10月 202016 10月 2020

出版系列

姓名2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

会议

会议17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
国家/地区中国
Beijing
时期13/10/2016/10/20

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引用此

Zhou, M., Guo, S., Shi, L., Xing, H., Hou, X., Yin, H., Liu, Y., Hu, Y., Xia, D., & Li, Z. (2020). A Multi-Binocular Camera-based Localization Method for Amphibious Spherical Robots. 在 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020 (页码 797-802). 文章 9233855 (2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA49215.2020.9233855