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	Robust Localization System for an Autonomous Mower
	Huiwen Guo; Xinyu Wu; Ruiqing Fu; Wei Feng
	2015
会议名称	IEEE Conference on Robotics and Biomimetics
会议地点	Zhuhai
英文摘要	This paper presents a robust vision-based localization system for an autonomous mower, which is significant for both the meadow map building and the successful area covering. Instead of setting the monocular camera toward the scene, which suffers from the disturbance of moving objects, less mark points or variation of illumination, we equip the camera toward the ground with constant illumination compensation. To achieve the localization of the mower, point features are extracted and matched between pairs of frames. Motion is incremental obtained by calculate the rotation and translation transformation of matched feature point pairs. As the angle accumulated error has greater contribution to the location error, angular acceleration sensor is adopted to compensate the angle error especially in the steep turning case. Experiments on meadow with our mowers demonstrate the robustness of our localization system.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/6785]
专题	深圳先进技术研究院_集成所
作者单位	2015
推荐引用方式 GB/T 7714	Huiwen Guo,Xinyu Wu,Ruiqing Fu,et al. Robust Localization System for an Autonomous Mower[C]. 见:IEEE Conference on Robotics and Biomimetics. Zhuhai.

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