A practical multirobot localization system

Krajnik, Tomas and Matias, Nitsche and Faigl, Jan and Vanek, Petr and Saska, Martin and Preucil, Libor and Duckett, Tom and Marta, Mejail (2014) A practical multirobot localization system. Journal of Intelligent and Robotic Systems, 76 (3-4). pp. 539-562. ISSN 0921-0296

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Abstract

We present a fast and precise vision-based software intended for multiple robot localization. The core component of the software is a novel and efficient algorithm for black and white 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 cameras, the core algorithm is able to process hundreds of images per second while tracking hundreds of objects with a millimeter precision. In addition, we present the method's mathematical model, which allows to estimate the expected localization 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 is verified in several experiments. Apart from the method description, we also make its source code public at \emph{http://purl.org/robotics/whycon}; so, it can be used as an enabling technology for various mobile robotic problems.

Keywords:mobile robotics, computer vision, localization, NotOAChecked
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:13653
Deposited On:27 Apr 2014 20:57

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