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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F13%3A00210312%21RIV14-GA0-21230___
rdf:type
n10:Vysledek skos:Concept
dcterms:description
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. 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.
dcterms:title
External Localization System for Mobile Robotics External Localization System for Mobile Robotics
skos:prefLabel
External Localization System for Mobile Robotics External Localization System for Mobile Robotics
skos:notation
RIV/68407700:21230/13:00210312!RIV14-GA0-21230___
n10:predkladatel
n17:orjk%3A21230
n3:aktivita
n14:P
n3:aktivity
P(GP13-18316P)
n3:dodaniDat
n9:2014
n3:domaciTvurceVysledku
n12:3276155 n12:7341520
n3:druhVysledku
n11:O
n3:duvernostUdaju
n4:S
n3:entitaPredkladatele
n16:predkladatel
n3:idSjednocenehoVysledku
74401
n3:idVysledku
RIV/68407700:21230/13:00210312
n3:jazykVysledku
n5:eng
n3:klicovaSlova
localization; mobile robots; image processing
n3:klicoveSlovo
n7:image%20processing n7:mobile%20robots n7:localization
n3:kontrolniKodProRIV
[8C48FE265EE6]
n3:obor
n15:JC
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
6
n3:projekt
n13:GP13-18316P
n3:rokUplatneniVysledku
n9:2013
n3:tvurceVysledku
Přeučil, Libor Nitsche, M. Duckett, Tom Faigl, Jan Mejail, M. Krajník, Tomáš
n18:organizacniJednotka
21230