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An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System
This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchrono...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2014
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4179071/ https://www.ncbi.nlm.nih.gov/pubmed/25196009 http://dx.doi.org/10.3390/s140815039 |
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author | Rampinelli, Mariana. Covre, Vitor Buback. de Queiroz, Felippe Mendonça. Vassallo, Raquel Frizera. Bastos-Filho, Teodiano Freire. Mazo, Manuel. |
author_facet | Rampinelli, Mariana. Covre, Vitor Buback. de Queiroz, Felippe Mendonça. Vassallo, Raquel Frizera. Bastos-Filho, Teodiano Freire. Mazo, Manuel. |
author_sort | Rampinelli, Mariana. |
collection | PubMed |
description | This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization. |
format | Online Article Text |
id | pubmed-4179071 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2014 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-41790712014-10-02 An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System Rampinelli, Mariana. Covre, Vitor Buback. de Queiroz, Felippe Mendonça. Vassallo, Raquel Frizera. Bastos-Filho, Teodiano Freire. Mazo, Manuel. Sensors (Basel) Article This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization. MDPI 2014-08-15 /pmc/articles/PMC4179071/ /pubmed/25196009 http://dx.doi.org/10.3390/s140815039 Text en © 2014 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/). |
spellingShingle | Article Rampinelli, Mariana. Covre, Vitor Buback. de Queiroz, Felippe Mendonça. Vassallo, Raquel Frizera. Bastos-Filho, Teodiano Freire. Mazo, Manuel. An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System |
title | An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System |
title_full | An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System |
title_fullStr | An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System |
title_full_unstemmed | An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System |
title_short | An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System |
title_sort | intelligent space for mobile robot localization using a multi-camera system |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4179071/ https://www.ncbi.nlm.nih.gov/pubmed/25196009 http://dx.doi.org/10.3390/s140815039 |
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