Visual localization of an omnidirectional robot using color detection by a multicamera system

Sofia Esquivel-Hernandez; Cesar I. Gonzalez Mejia; Oscar E. Garcia Vargas; Rigoberto Juarez-Salazar; Jorge Gudiño-Lau

doi:10.1117/12.2633724

3 October 2022 Visual localization of an omnidirectional robot using color detection by a multicamera system

Sofia Esquivel-Hernandez, Cesar I. Gonzalez Mejia, Oscar E. Garcia Vargas, Rigoberto Juarez-Salazar, Jorge Gudiño-Lau

Proceedings Volume 12225, Optics and Photonics for Information Processing XVI; 1222507 (2022) https://doi.org/10.1117/12.2633724
Event: SPIE Optical Engineering + Applications, 2022, San Diego, California, United States

Abstract

Vision systems have become a promising feedback sensor for robot navigation due to their ability to extract meaningful scene information. In this work, a multicamera system is proposed to estimate the position and orientation of an omnidirectional robot. For this, three calibrated devices (two smartphones and a webcam) are employed. Also, two badges of different colors are placed on the omnidirectional robot to detect its position and orientation. The obtained pose information is used as feedback for the robot trajectory controller. The results show that the proposed system is a useful alternative for the visual localization of ground mobile robots.

Conference Presentation

Citation Download Citation

Sofia Esquivel-Hernandez, Cesar I. Gonzalez Mejia, Oscar E. Garcia Vargas, Rigoberto Juarez-Salazar, and Jorge Gudiño-Lau "Visual localization of an omnidirectional robot using color detection by a multicamera system", Proc. SPIE 12225, Optics and Photonics for Information Processing XVI, 1222507 (3 October 2022); https://doi.org/10.1117/12.2633724

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