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Position localization for mobile robots using a colour image of equipment at nuclear plants

Published online by Cambridge University Press:  09 March 2009

Kenichi Ebihara ,
Takayuki Otani  and
Etsuo Kume
Kenichi Ebihara
Affiliation:
Computing and Information Systems Center,Japan Atomic Energy Research Institute (JAERI), Tokai, Naka, Ibaraki, 319-11 (Japan) E-mail:[ebihara, otani, kume]@c3007.tokai.jaeri.go.jp
Takayuki Otani
Affiliation:
Computing and Information Systems Center,Japan Atomic Energy Research Institute (JAERI), Tokai, Naka, Ibaraki, 319-11 (Japan) E-mail:[ebihara, otani, kume]@c3007.tokai.jaeri.go.jp
Etsuo Kume
Affiliation:
Computing and Information Systems Center,Japan Atomic Energy Research Institute (JAERI), Tokai, Naka, Ibaraki, 319-11 (Japan) E-mail:[ebihara, otani, kume]@c3007.tokai.jaeri.go.jp
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Extract

Position localization is a necessary and important task for an intelligent robot, which moves and works in place of human workers. Various methods for position localization tasks have been proposed and developed by many researchers; for example, can active method using ultrasonic waves or laser and a passive method using images of bar codes or marks in the workspace of the robot. The passive method, using images of the object in the workspace of the robot, is particularly desirable, as this method does not influence the workspace. Thus, an arrangement of the workspace is not necessary and many robots can work simultaneously.

Keywords

Position localizationNuclear plantColour imageMobile robotFeature extraction
Type
Research Article
Information
Robotica , Volume 14 , Issue 6 , November 1996 , pp. 677 - 685
Copyright
Copyright © Cambridge University Press 1996

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