RISS 학술연구정보서비스

다국어 입력

http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.

변환된 중국어를 복사하여 사용하시면 됩니다.

  • 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
  • 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
    인기검색어 순위 펼치기

    RISS 인기검색어

      검색결과 좁혀 보기

      오늘 본 자료

      • 오늘 본 자료가 없습니다.
      • 무료
      • 기관 내 무료
      • 유료
      • Vision-Based Coordinated Localization for Mobile Sensor Networks

        Junghun Suh,Seungil You,Sungjoon Choi,Songhwai Oh IEEE 2016 IEEE transactions on automation science and engine Vol.13 No.2

        <P>In this paper, we propose a coordinated localization algorithm for mobile sensor networks with camera sensors to operate under Global Positioning System (GPS) denied areas or indoor environments. Mobile robots are partitioned into two groups. One group moves within the field of views of remaining stationary robots. The moving robots are tracked by stationary robots and their trajectories are used as spatiotemporal features. From these spatiotemporal features, relative poses of robots are computed using multiview geometry and a group of robots is localized with respect to the reference coordinate based on the proposed multirobot localization. Once poses of all robots are recovered, a group of robots moves from one location to another while maintaining the formation of robots for coordinated localization under the proposed multirobot navigation strategy. By taking the advantage of a multiagent system, we can reliably localize robots over time as they perform a group task. In experiment, we demonstrate that the proposed method consistently achieves a localization error rate of 0.37% or less for trajectories of length between 715 cm and 890 cm using an inexpensive off-the-shelf robotic platform.</P>

      맨 위로 스크롤 이동