Landmark Tracking Using Unrectified Omniirectional Image for an Automated Guided Vehicle

Zahari, Taha and Jessnor Arif, Mat Jizat (2015) Landmark Tracking Using Unrectified Omniirectional Image for an Automated Guided Vehicle. In: Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, 345 . Springer, Switzerland, pp. 663-673. ISBN 978-3-319-16840-1 (print); 978-3-319-16841-8 (online)

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In this paper, a study on landmark tracking using unrectified omnidirectional image for automated guided vehicle is presented. Omnidirectional image from a catadioptric camera may appear distorted against the height of an object. However, for a flat object on the floor, the distortion is negligible thus can be advantageous for on-the-ground landmark; Landmark used in this study was Code-128 standard barcode. The barcode is modified to suit the detection process where the barcode adopted cyan instead of white background and bears a red strip on top for orientation. The image processing can directly begin tracking landmarks when no distortion rectification in the image was required. We adopted a topological map approach where the automated guided vehicle moves from landmark to landmark. Experiments were conducted on a small four wheel drive, four wheel steering automated guided vehicle. The results were measured through number of successful consequent tracking of the landmark.

Item Type: Book Chapter
Uncontrolled Keywords: Computational Intelligence; Artificial Intelligence; International Sports Law
Subjects: T Technology > TS Manufactures
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 14 May 2015 01:43
Last Modified: 22 Jan 2018 05:51
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