@article{ART001238020},
author={Kang Jin-gu and LEE， JANG-MYUNG},
title={A Study on Object Tracking for Autonomous Mobile Robot using Vision Information},
journal={Journal of The Korea Society of Computer and Information},
issn={1598-849X},
year={2008},
volume={13},
number={2},
pages={235-241}
TY - JOUR
AU - Kang Jin-gu
AU - LEE， JANG-MYUNG
TI - A Study on Object Tracking for Autonomous Mobile Robot using Vision Information
JO - Journal of The Korea Society of Computer and Information
PY - 2008
VL - 13
IS - 2
PB - The Korean Society Of Computer And Information
SP - 235
EP - 241
SN - 1598-849X
AB - An Autonomous mobile robot is a very useful system to achieve various tasks in dangerous environment, because it has the higher performance than a fixed base manipulator in terms of its operational workspace size as well as efficiency. A method for estimating the position of an object in the Cartesian coordinate system based upon the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and the real object, is proposed. With this position estimation, a method of determining an optimal path for the autonomous mobile robot from the current position to the position of object estimated by the image information using homogeneous matrices. Finally, the corresponding joint parameters to make the desired displacement are calculated to capture the object through the control of a mobile robot. The effectiveness of proposed method is demonstrated by the simulation and real experiments using the autonomous mobile robot.
KW - Autonomous Mobile Robot;Kinematics;Position Estimation;2-DOF Active Camera;Optimal Path
DO -
UR -
ER -
Kang Jin-gu and LEE， JANG-MYUNG. (2008). A Study on Object Tracking for Autonomous Mobile Robot using Vision Information. Journal of The Korea Society of Computer and Information, 13(2), 235-241.
Kang Jin-gu and LEE， JANG-MYUNG. 2008, "A Study on Object Tracking for Autonomous Mobile Robot using Vision Information", Journal of The Korea Society of Computer and Information, vol.13, no.2 pp.235-241.
Kang Jin-gu, LEE， JANG-MYUNG "A Study on Object Tracking for Autonomous Mobile Robot using Vision Information" Journal of The Korea Society of Computer and Information 13.2 pp.235-241 (2008) : 235.
Kang Jin-gu, LEE， JANG-MYUNG. A Study on Object Tracking for Autonomous Mobile Robot using Vision Information. 2008; 13(2), 235-241.
Kang Jin-gu and LEE， JANG-MYUNG. "A Study on Object Tracking for Autonomous Mobile Robot using Vision Information" Journal of The Korea Society of Computer and Information 13, no.2 (2008) : 235-241.
Kang Jin-gu; LEE， JANG-MYUNG. A Study on Object Tracking for Autonomous Mobile Robot using Vision Information. Journal of The Korea Society of Computer and Information, 13(2), 235-241.
Kang Jin-gu; LEE， JANG-MYUNG. A Study on Object Tracking for Autonomous Mobile Robot using Vision Information. Journal of The Korea Society of Computer and Information. 2008; 13(2) 235-241.
Kang Jin-gu, LEE， JANG-MYUNG. A Study on Object Tracking for Autonomous Mobile Robot using Vision Information. 2008; 13(2), 235-241.
Kang Jin-gu and LEE， JANG-MYUNG. "A Study on Object Tracking for Autonomous Mobile Robot using Vision Information" Journal of The Korea Society of Computer and Information 13, no.2 (2008) : 235-241.
