Improvement of robustness of the dual floor image tracking odometry measurement

Takahiro Takasu, Makoto Mizukawa, Yoshinobu Ando

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Dual Floor Image Tracking (DFIT) is a dead reckoning component, which acquires optical flows of ground images from two cameras. The robot that is equipped with the DFIT can measure its position and rotation without being affected by slip or drift. Noncontact feature of the DFIT enables to add-on robots with an arbitrary driving mechanism. This paper presents the design principle of the DFIT and the features of RT component with experimental evaluation.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages4804-4807
Number of pages4
Publication statusPublished - 2009 Dec 1
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: 2009 Aug 182009 Aug 21

Publication series

NameICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Conference

ConferenceICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CountryJapan
CityFukuoka
Period09/8/1809/8/21

Keywords

  • Dead reckoning
  • Image processing
  • Robot localization
  • Rt-middleware
  • Visual odometry

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

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  • Cite this

    Takasu, T., Mizukawa, M., & Ando, Y. (2009). Improvement of robustness of the dual floor image tracking odometry measurement. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings (pp. 4804-4807). [5334370] (ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings).