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|Title: ||Active stereo vision based system for estimation of Mobile Robot Orientation using composition matrix|
|Authors: ||Paulraj, Murugesapandian|
R. Badlishah, Ahmad
Hema, Chengalvarayan Radhakrishnamurthy
Abdul Hamid, Adom
|Keywords: ||Mobile robots;Robotics;Robots -- Design and construction;Intelligent mobile robots;Robot vision;Image processing|
|Issue Date: ||11-Oct-2009|
|Publisher: ||Universiti Malaysia Perlis|
|Citation: ||p.3B4 1 - 3B4 - 6|
|Series/Report no.: ||Proceedings of the International Conference on Man-Machine Systems (ICoMMS 2009)|
|Abstract: ||The computation of a mobile robot position and orientation is a common task in the area of computing vision and image processing. For a successful application, it is important
that the position and orientation of a mobile robot must be determined properly. In this paper, a simple procedure for determining the orientation of the mobile robot using two cameras is presented. The two cameras are used to capture the images of a mobile robot at various orientations. Four simple neural network models are developed to associate the inputs and
output (orientation). First neural network model is used to estimate the orientation of a mobile robot using only the features
derived from the center camera. The second neural network model is used for estimating the orientation of a mobile robot using features derived from both the centre and side cameras. The third neural network model is used to estimate the orientation using features derived from the composition matrix.
The fourth neural network model is used for estimating the orientation using Singular Value Decomposition (SVD) technique. Simulation results show that the proposed algorithm can be used to estimate the orientation of the mobile robot accurately.|
|Description: ||Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.|
|Appears in Collections:||Conference Papers|
R. Badlishah Ahmad, Prof. Dr.
Abdul Hamid Adom, Prof. Dr.
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