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Marker-Based Method for Recognition of Camera Position for Mobile Robots
Position recognition is one of the core technologies for driving a robot because of differences in environment and rapidly changing situations. This study proposes a strategy for estimating the position of a camera mounted on a mobile robot. The proposed strategy comprises three methods. The first i...
Autores principales: | , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7914651/ https://www.ncbi.nlm.nih.gov/pubmed/33557354 http://dx.doi.org/10.3390/s21041077 |
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author | Gwak, Dong-Gi Yang, Kyon-Mo Park, Min-Ro Hahm, Jehun Koo, Jaewan Lee, Joonwoo Seo, Kap-Ho |
author_facet | Gwak, Dong-Gi Yang, Kyon-Mo Park, Min-Ro Hahm, Jehun Koo, Jaewan Lee, Joonwoo Seo, Kap-Ho |
author_sort | Gwak, Dong-Gi |
collection | PubMed |
description | Position recognition is one of the core technologies for driving a robot because of differences in environment and rapidly changing situations. This study proposes a strategy for estimating the position of a camera mounted on a mobile robot. The proposed strategy comprises three methods. The first is to directly acquire information (e.g., identification (ID), marker size and marker type) to recognize the position of the camera relative to the marker. The advantage of this marker system is that a combination of markers of different sizes or having different information may be used without having to update the internal parameters of the robot system even if the user frequently changes or adds to the marker’s identification information. In the second, two novel markers are proposed to consider the real environment in which real robots are applied: a nested marker and a hierarchical marker. These markers are proposed to improve the ability of the camera to recognize markers while the camera is moving on the mobile robot. The nested marker is effective for robots like drones, which land and take off vertically with respect to the ground. The hierarchical marker is suitable for robots that move horizontally with respect to the ground such as wheeled mobile robots. The third method is the calculation of the position of an added or moved marker based on a reference marker. This method automatically updates the positions of markers after considering the change in the driving area of the mobile robot. Finally, the proposed methods were validated through experiments. |
format | Online Article Text |
id | pubmed-7914651 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-79146512021-03-01 Marker-Based Method for Recognition of Camera Position for Mobile Robots Gwak, Dong-Gi Yang, Kyon-Mo Park, Min-Ro Hahm, Jehun Koo, Jaewan Lee, Joonwoo Seo, Kap-Ho Sensors (Basel) Article Position recognition is one of the core technologies for driving a robot because of differences in environment and rapidly changing situations. This study proposes a strategy for estimating the position of a camera mounted on a mobile robot. The proposed strategy comprises three methods. The first is to directly acquire information (e.g., identification (ID), marker size and marker type) to recognize the position of the camera relative to the marker. The advantage of this marker system is that a combination of markers of different sizes or having different information may be used without having to update the internal parameters of the robot system even if the user frequently changes or adds to the marker’s identification information. In the second, two novel markers are proposed to consider the real environment in which real robots are applied: a nested marker and a hierarchical marker. These markers are proposed to improve the ability of the camera to recognize markers while the camera is moving on the mobile robot. The nested marker is effective for robots like drones, which land and take off vertically with respect to the ground. The hierarchical marker is suitable for robots that move horizontally with respect to the ground such as wheeled mobile robots. The third method is the calculation of the position of an added or moved marker based on a reference marker. This method automatically updates the positions of markers after considering the change in the driving area of the mobile robot. Finally, the proposed methods were validated through experiments. MDPI 2021-02-04 /pmc/articles/PMC7914651/ /pubmed/33557354 http://dx.doi.org/10.3390/s21041077 Text en © 2021 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 (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Gwak, Dong-Gi Yang, Kyon-Mo Park, Min-Ro Hahm, Jehun Koo, Jaewan Lee, Joonwoo Seo, Kap-Ho Marker-Based Method for Recognition of Camera Position for Mobile Robots |
title | Marker-Based Method for Recognition of Camera Position for Mobile Robots |
title_full | Marker-Based Method for Recognition of Camera Position for Mobile Robots |
title_fullStr | Marker-Based Method for Recognition of Camera Position for Mobile Robots |
title_full_unstemmed | Marker-Based Method for Recognition of Camera Position for Mobile Robots |
title_short | Marker-Based Method for Recognition of Camera Position for Mobile Robots |
title_sort | marker-based method for recognition of camera position for mobile robots |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7914651/ https://www.ncbi.nlm.nih.gov/pubmed/33557354 http://dx.doi.org/10.3390/s21041077 |
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