External perception based on vision plays a critical role in developing improved and robust localization algorithms for mobile robots, as well as in gaining important information about the vehicle and the traversed terrain. This paper presents two novel methods to improve mobility on rough terrains by using visual input. The first method consists of a stereovision algorithm for 6-DoF ego-motion estimation, which integrates image intensity information and 3D stereo data using an Iterative Closest Point (ICP) approach. The second method aims at estimating the wheel sinkage of a mobile robot on deformable soil, based on the visual input from an onboard monocular camera, and an edge detection strategy. Both methods were implemented and experimentally validated on an all-terrain mobile robot, showing that the proposed techniques can be successfully employed to improve the performance of ground vehicles operating in uncharted environments.
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ASME 2008 Dynamic Systems and Control Conference
October 20–22, 2008
Ann Arbor, Michigan, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4335-2
PROCEEDINGS PAPER
Vision-Based Methods for Mobile Robot Localization and Wheel Sinkage Estimation
Giulio Reina,
Giulio Reina
University of Salento, Lecce, Italy
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Annalisa Milella,
Annalisa Milella
National Research Council-Italy, Bari, Italy
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Mario Foglia
Mario Foglia
Politecnico of Bari, Bari, Italy
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Giulio Reina
University of Salento, Lecce, Italy
Annalisa Milella
National Research Council-Italy, Bari, Italy
Mario Foglia
Politecnico of Bari, Bari, Italy
Paper No:
DSCC2008-2188, pp. 615-621; 7 pages
Published Online:
June 29, 2009
Citation
Reina, G, Milella, A, & Foglia, M. "Vision-Based Methods for Mobile Robot Localization and Wheel Sinkage Estimation." Proceedings of the ASME 2008 Dynamic Systems and Control Conference. ASME 2008 Dynamic Systems and Control Conference, Parts A and B. Ann Arbor, Michigan, USA. October 20–22, 2008. pp. 615-621. ASME. https://doi.org/10.1115/DSCC2008-2188
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