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이동로봇을 위한 IR 랜드마크 기반의 실시간 실내 측위 시스템
A Real-time Localization System Based on IR Landmark for Mobile Robot in Indoor Environment

이재영   (한국전자통신연구원CC0186800  ); 채희성   (한국전자통신연구원CC0186800  ); 유원필   (한국전자통신연구원CC0186800  );
  • 초록

    The localization is one of the most important issues for mobile robot. This paper describes a novel localization system for the development of a location sensing network. The system comprises wirelessly controlled infrared landmarks and an image sensor which detects the pixel positions of infrared sources. The proposed localization system can operate irrespective of the illumination condition in the indoor environment. We describe the operating principles of the developed localization system and report the performance for mobile robot localization and navigation. The advantage of the developed system lies in its robustness and low cost to obtain location information as well as simplicity of deployment to build a robot location sensing network. Experimental results show that the developed system outperforms the state-of-the-art localization methods.


  • 주제어

    localization .   navigation .   artificial landmark .   mobile robot.  

  • 참고문헌 (15)

    1. Fuji-Keizai USA, Inc., 'Wireless sensing networks: Market, R&D and commercialization activities,' Market Research Report, Feb. 2004 
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    4. K. Yamano, et al., 'Self-localization of mobile robots with RFlD system by using support vector machine,' IEEE Int. Conf. Intell. Robots and Systems, pp. 3756-3761, 2004 
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    6. The Ubisense Smart Space Platform, http://www.ubisense.net 
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    9. J. H. Lee, K. Morioka, N. Ando, H. Hashimoto, 'Cooperation of distributed intelligent sensors in intelligent environment,' IEEE/ASME Trans. Mechatronics, vol. 9, no. 3, Sep. 2004 
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    15. Z. Zhang, 'Flexible camera calibration by viewing a plane from unknown orientations,' IEEE Int. Conf. Computer Vision, 1999 
  • 이 논문을 인용한 문헌 (3)

    1. Son, Chang-Woo ; Lee, Seung-Heui ; Lee, Min-Cheol 2008. "Localization System for Mobile Robot Using Electric Compass and Tracking IR Light Source" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 14(8): 767~773     
    2. Han, Cheol-Hun ; Sim, Kwee-Bo 2010. "Real-Time Mapping of Mobile Robot on Stereo Vision" 한국지능시스템학회 논문지 = Journal of Korean institute of intelligent systems, 20(1): 60~65     
    3. Ahn, Jae-Wan ; Jin, Ji-Yong ; Chung, Woo-Jin 2010. "Experimental Research on the Characteristics of Indoor Positioning Systems and Mobile Robot Navigation" 로봇학회논문지 = The journal of Korea Robotics Society, 5(3): 231~239     

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  • 채희성 (1)

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