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2D PCA-Based localization for mobile robots in unstructured environments

2012Conference object Open access
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dc.contributor.authorCarreira, Fernando
dc.contributor.authorChristo, C.
dc.contributor.authorValerio, D.
dc.contributor.authorRamalho, M.
dc.contributor.authorCardeira, C.
dc.contributor.authorCalado, João Manuel Ferreira
dc.contributor.authorOliveira, P.
dc.date.accessioned2015-09-07T09:12:15Z
dc.date.available2015-09-07T09:12:15Z
dc.date.issued2012
dc.description.abstractIn this paper a new PCA-based positioning sensor and localization system for mobile robots to operate in unstructured environments (e. g. industry, services, domestic ...) is proposed and experimentally validated. The inexpensive positioning system resorts to principal component analysis (PCA) of images acquired by a video camera installed onboard, looking upwards to the ceiling. This solution has the advantage of avoiding the need of selecting and extracting features. The principal components of the acquired images are compared with previously registered images, stored in a reduced onboard image database, and the position measured is fused with odometry data. The optimal estimates of position and slippage are provided by Kalman filters, with global stable error dynamics. The experimental validation reported in this work focuses on the results of a set of experiments carried out in a real environment, where the robot travels along a lawn-mower trajectory. A small position error estimate with bounded co-variance was always observed, for arbitrarily long experiments, and slippage was estimated accurately in real time.por
dc.identifier.citationCARREIRA, Fernando.; [et al] – 2D PCA-Based localization for mobile robots in unstructured environments. In Book Series: IEEE International Conference on Intelligent Robots and Systems. IEEE, 2012. ISBN:978-1-4673-1736-8. Pp. 3867-3868por
dc.identifier.isbn978-1-4673-1736-8
dc.identifier.issn2153-0858
dc.identifier.urihttp://hdl.handle.net/10400.21/5062
dc.language.isoengpor
dc.peerreviewedyespor
dc.publisherIEEEpor
dc.relationStrategic Project - LA 22 - 2011-2012
dc.title2D PCA-Based localization for mobile robots in unstructured environmentspor
dc.typeconference object
dspace.entity.typePublication
oaire.awardTitleStrategic Project - LA 22 - 2011-2012
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/PEst-OE%2FEME%2FLA0022%2F2011/PT
oaire.citation.endPage3868por
oaire.citation.startPage3867por
oaire.citation.titleBook Series: IEEE International Conference on Intelligent Robots and Systemspor
oaire.fundingStream6817 - DCRRNI ID
person.familyNameNeves da Fonseca Cardoso Carreira
person.familyNameCalado
person.givenNameFernando Paulo
person.givenNameJoão
person.identifier370725
person.identifier.ciencia-idD019-D006-510B
person.identifier.ciencia-idB518-93E3-E7AB
person.identifier.orcid0000-0002-9873-5050
person.identifier.orcid0000-0001-6628-4657
person.identifier.ridM-4167-2013
person.identifier.scopus-author-id7006897277
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsclosedAccesspor
rcaap.typeconferenceObjectpor
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relation.isAuthorOfPublication602b1546-f4f1-4cd5-8d29-d835d54c9bd6
relation.isAuthorOfPublication.latestForDiscovery602b1546-f4f1-4cd5-8d29-d835d54c9bd6
relation.isProjectOfPublication40129899-f62a-4d97-893e-96999764d2b1
relation.isProjectOfPublication.latestForDiscovery40129899-f62a-4d97-893e-96999764d2b1

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