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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F08%3A03141775%21RIV09-MSM-21230___
rdf:type
skos:Concept n20:Vysledek
dcterms:description
The aim of this paper is to present a convergence property of a simple vision based navigation system for a mobile robot. A robot equipped with a single camera is guided by a human operator along a path consisting of straight segments. During this guided tour, local image invariants are extracted from acquired frames and odometric data are collected. When navigating learned path, the vision is used to reckon direction to the start point of next straight segment. Odometric measurements are utilized to estimate distance to this point. A simple linear model of this navigation system is lined up and its properties are examined. We proclaim a theorem, which states, that for a limited odometric error and ''reasonable'' trajectory, the robot uncertainty in position estimation does not diverge. A formal proof of this theorem is given for regular polygonal trajectories. The proclaimed convergence theorem is also experimentally verified. The aim of this paper is to present a convergence property of a simple vision based navigation system for a mobile robot. A robot equipped with a single camera is guided by a human operator along a path consisting of straight segments. During this guided tour, local image invariants are extracted from acquired frames and odometric data are collected. When navigating learned path, the vision is used to reckon direction to the start point of next straight segment. Odometric measurements are utilized to estimate distance to this point. A simple linear model of this navigation system is lined up and its properties are examined. We proclaim a theorem, which states, that for a limited odometric error and ''reasonable'' trajectory, the robot uncertainty in position estimation does not diverge. A formal proof of this theorem is given for regular polygonal trajectories. The proclaimed convergence theorem is also experimentally verified. Tento příspěvek popisuje konvergenci jednoduchého navigačního systému pro mobilní robot. Robot vybavený jednou kamerou je proveden prostředím po cestě tvaru lomené čáry. Během této cesty robot extrahuje z obrazu okolí význačné body a zaznamenává jejich pozice spolu s odometrickými daty. Během navigace po této naučené cestě, zapamatované význačné body jsou použity pro korekci směru robotu a dometrická data určují vzdálenost robotu od počátku cesty. Byl sestaven lineární model tohoto navigačního systému a byly zkoumány jeho vlastnosti. Vyslovili jsme větu, tvrdící, že pro omezenou chybu odometrie a %22rozumné%22 trajektorie, korekce směru jsou dostačující pro udržení robotu na známé cestě. Formulovali jsme důkaz platný pro trajektorie tvaru pravidelných mnohoúhelníků.
dcterms:title
A Simple Visual Navigation System with Convergence Property Jednoduchý vizuální navigační systém pro mobilní robot A Simple Visual Navigation System with Convergence Property
skos:prefLabel
A Simple Visual Navigation System with Convergence Property A Simple Visual Navigation System with Convergence Property Jednoduchý vizuální navigační systém pro mobilní robot
skos:notation
RIV/68407700:21230/08:03141775!RIV09-MSM-21230___
n3:aktivita
n5:Z
n3:aktivity
Z(MSM6840770038)
n3:dodaniDat
n9:2009
n3:domaciTvurceVysledku
n19:3276155 n19:4334175
n3:druhVysledku
n15:D
n3:duvernostUdaju
n21:S
n3:entitaPredkladatele
n10:predkladatel
n3:idSjednocenehoVysledku
354516
n3:idVysledku
RIV/68407700:21230/08:03141775
n3:jazykVysledku
n14:eng
n3:klicovaSlova
visual navigation
n3:klicoveSlovo
n8:visual%20navigation
n3:kontrolniKodProRIV
[D332358EBF16]
n3:mistoKonaniAkce
Prague
n3:mistoVydani
Heidelberg
n3:nazevZdroje
European Robotics Symposium 2008
n3:obor
n12:JD
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
2
n3:rokUplatneniVysledku
n9:2008
n3:tvurceVysledku
Přeučil, Libor Krajník, Tomáš
n3:typAkce
n17:EUR
n3:wos
000255550400029
n3:zahajeniAkce
2008-03-26+01:00
n3:zamer
n18:MSM6840770038
s:issn
1610-7438
s:numberOfPages
10
n16:hasPublisher
Springer-Verlag
n4:isbn
978-3-540-78315-2
n11:organizacniJednotka
21230