June 14, 2015
June 14, 2015
June 17, 2015
26.1376.1 - 26.1376.14
Simultaneous Tracking and Reconstruction of Objects and its Application in Educational Robotics LaboratoriesMany educational and industrial applications that involve robots require the location informationfor the robots. This necessitates both the ability to globally localize the robots in the absence of anyprior data as well as to track the robots’ current positions once their initial locations are known.Various approaches have been used to solve these problems, such as encoders, inertial navigation,range sensing and vision-based approaches. Among those state-of-the-art robot localizationmethods, vision-based techniques are considered effective, and they can be enhanced significantlyby obtaining additional supporting information from signal processing techniques and its relatedalgorithm developments. However, many challenges associated with the use of vision-based robottracking systems in uncontrolled environments remain. For example, hardware components ofvisual odometry systems are difficult to implement and tend to be expensive; it is difficult tochoose the most suitable algorithms and analysis methods and those algorithms are considered tobe computationally expensive.In this paper, a visual odometry system implemented using a low-cost and user-friendly 3-Dscanner (the Microsoft Kinect) is presented. A traditional approach for robot tracking based onobject recognition was applied, which includes building an object database, and extracting,describing and matching keypoints between the database and the scene. The advantages anddisadvantages of using the Kinect in these approaches were studied. Then, a technique forsimultaneously tracking and reconstructing objects was developed and tested. This technique wasinspired by the simultaneous localization and mapping (SLAM) approach, and it was implementedusing the Kinect and an iRobot Create platform. The prototype implementation shows that thissimultaneous tracking and reconstruction technique is feasible and suitable to be used ineducational robotics laboratories. This technique also has multiple advantages, such as low cost,straightforward setup and minimal need for preparation work by the laboratory instructor.
Zhang, M., & Zhang, Z., & Chang, Y., & Esche, S. K. (2015, June), Simultaneous Tracking and Reconstruction of Objects and its Application in Educational Robotics Laboratories Paper presented at 2015 ASEE Annual Conference & Exposition, Seattle, Washington. 10.18260/p.24713
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