A novel method of robot location using RFID and stereo vision

Diansheng Chen; Guanxin Zhang; Zhen Li

doi:10.1117/12.949886

8 June 2012 A novel method of robot location using RFID and stereo vision

Diansheng Chen, Guanxin Zhang, Zhen Li

Proceedings Volume 8334, Fourth International Conference on Digital Image Processing (ICDIP 2012); 83341P (2012) https://doi.org/10.1117/12.949886
Event: Fourth International Conference on Digital Image Processing (ICDIP 2012), 2012, Kuala Lumpur, Malaysia

Abstract

This paper proposed a new global localization method for mobile robot based on RFID (Radio Frequency Identification Devices) and stereo vision, which makes the robot obtain global coordinates with good accuracy when quickly adapting to unfamiliar and new environment. This method uses RFID tags as artificial landmarks, the 3D coordinate of the tags under the global coordinate system is written in the IC memory. The robot can read it through RFID reader; meanwhile, using stereo vision, the 3D coordinate of the tags under the robot coordinate system is measured. Combined with the robot's attitude coordinate system transformation matrix from the pose measuring system, the translation of the robot coordinate system to the global coordinate system is obtained, which is also the coordinate of the robot's current location under the global coordinate system. The average error of our method is 0.11m in experience conducted in a 7m×7m lobby, the result is much more accurate than other location method.

Citation Download Citation

Diansheng Chen, Guanxin Zhang, and Zhen Li "A novel method of robot location using RFID and stereo vision", Proc. SPIE 8334, Fourth International Conference on Digital Image Processing (ICDIP 2012), 83341P (8 June 2012); https://doi.org/10.1117/12.949886

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