External localization system for mobile robotics

Krajnik, Tomas and Nitsche , Matias and Faigl, Jan and Mejail, Marta and Preucil, Libor and Duckett, Tom (2013) External localization system for mobile robotics. In: 16th International Conference on Advanced Robotics (ICAR 2013), 25-29 November 2013, Montevideo, Uruguay.

Full content URL: http://icar2013.org

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Item Type:Conference or Workshop contribution (Paper)
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Abstract

We present a fast and precise vision-based software intended for multiple robot localization. The core component of
the proposed localization system is an efficient method for black and white circular pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision, and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost camera, its core algorithm is able to process hundreds of images per second while tracking hundreds of objects with millimeter precision. We propose a mathematical model of the method that allows to calculate its precision, area of coverage, and processing speed from the camera’s intrinsic parameters and hardware’s processing capacity. The correctness of the presented model and
performance of the algorithm in real-world conditions are verified in several experiments. Apart from the method description, we also publish its source code; so, it can be used as an enabling technology for various mobile robotics problems.

Keywords:mobile robotics, computer vision, localization
Subjects:H Engineering > H670 Robotics and Cybernetics
G Mathematical and Computer Sciences > G740 Computer Vision
Divisions:College of Science > School of Computer Science
ID Code:12670
Deposited On:11 Dec 2013 14:46

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