Article

Article title CONTACTLESS ODOMETER AS A PART OF ONBOARD NAVIGATING SYSTEMS
Authors S.M. Sokolov, A.K. Platonov, A.A. Boguslavskij, F.A. Kuftin, K.A. Moksin
Section SECTION II. NAVIGATION AND PROMPTING
Month, Year 03, 2010 @en
Index UDC 004.896, 004.932.2, 004.823
DOI
Abstract In article contactless odometer possibilities as a part of mobile robots navigating systems and other vehicles are considered. Researches of similar systems are described and results of experiments with pre-production models contactless odometers are resulted. On the basis of the spent researches quantitative estimations of reliability and accuracy of offered algorithms are given. These estimations allow formalizing criteria of decision-making on configuration of contactless odometers hardware-software means for achievement of the set characteristics of reliability at the set restrictions on parameters of relative movement and restrictions on accessories cost. In the conclusions the conclusion about high accuracy and reliability of this independent (from other known ways of a way notation) channel of navigating data becomes.

Download PDF

Keywords Vision systems; contactless odometer; an optical flow; local navigation.
References 1. Bouguet Jean-Yves. Pyramidal Implementation of the Lucas Kanade Feature Tracker. The paper is included into OpenCV distribution http://www.intel. com/technology /computing /opencv/ index.htm - официальный сайт поддержки библиотеки OpenCV.
2. Shi Jianbo and Tomasi Carlo. “Good features to track”, Proc. IEEE Comput. Soc. Conf. Comput. Vision and Pattern Recogn., 1994. – P. 593-600.
3. Horn B.K.P., Schunk B.G. Determining Optical Flow. Artificial Intelligence. Vol. 2. – 1981. – Р. 185-203.
4. Braillon Christophe, Pradalier Cґedric, James L. Crowley1, Christian Laugier Real-time moving obstacle detection using optical flow models Intelligent Vehicles Symposium 2006, June 13-15, 2006, Tokyo, Japan.
5. Dev B.J.A Krose F.C.A. Green Heading Direction for a Mobile Robot from Optical Flow Proceedings of the 1998 IEEE International Conference on Robotics & Automation Leuven, Belgium. May 1998.
6. Baker S.and Matthews I. “Lucas-Kanade 20 Years On: A Unifying Framework” IJCV, Vol. 56, № 3, March, 2004. – Р. 221-255.

Comments are closed.