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Title:
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THE MOBILE ROBOT NAVIGATION METHOD BASED ON ONBOARD SENSORS AND CAMERA DATA FUSION |
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Author(s):
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Vladimir Filaretov, Aleksandr Novitsky, Dmirty Yukhimets |
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ISBN:
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978-989-8533-52-4 |
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Editors:
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Katherine Blashki and Yingcai Xiao |
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Year:
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2016 |
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Edition:
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Single |
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Keywords:
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Mobile robot, Navigation system, Image Processing, Visual odometry, Kalman filter, Data fusion |
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Type:
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Full Paper |
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First Page:
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179 |
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Last Page:
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186 |
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Language:
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English |
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Cover:
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Full Contents:
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click to dowload 
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Paper Abstract:
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In this paper, we propose a method of constructing a mobile robot (MR) navigation system (NS) based on fusion of data obtained from onboard sensors and video camera with use of extended Kalman filter (EKF), which allows significantly improve the accuracy of MR navigation in conditions where global positioning systems are not available or have a greater error. The budgetary webcam which, at the expense of the low price, allows to reduce the cost of system in general acts as the video data obtaining device. The method proposed consists of two steps. The first step is obtaining MR movement and orientation data based on video processing. A second step is the fusion of said navigation data and data obtained from the MR onboard sensors. |
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