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Active stereo vision based system for estimation of Mobile Robot Orientation using composition matrix

Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.

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Bibliographic Details
Main Authors: Paulraj, Murugesapandian, Fadzilah, Hashim, R. Badlishah, Ahmad, Hema, Chengalvarayan Radhakrishnamurthy, Abdul Hamid, Adom
Other Authors: paul@unimap.edu.my
Format: Working Paper
Language:English
Published: Universiti Malaysia Perlis 2009
Subjects:
Mobile robots
Robotics
Robots > Design and construction
Intelligent mobile robots
Robot vision
Image processing
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/7301
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spelling my.unimap-73012010-01-15T08:35:15Z Active stereo vision based system for estimation of Mobile Robot Orientation using composition matrix Paulraj, Murugesapandian Fadzilah, Hashim R. Badlishah, Ahmad Hema, Chengalvarayan Radhakrishnamurthy Abdul Hamid, Adom paul@unimap.edu.my Mobile robots Robotics Robots -- Design and construction Intelligent mobile robots Robot vision Image processing Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia. The computation of a mobile robot position and orientation is a common task in the area of computing vision and image processing. For a successful application, it is important that the position and orientation of a mobile robot must be determined properly. In this paper, a simple procedure for determining the orientation of the mobile robot using two cameras is presented. The two cameras are used to capture the images of a mobile robot at various orientations. Four simple neural network models are developed to associate the inputs and output (orientation). First neural network model is used to estimate the orientation of a mobile robot using only the features derived from the center camera. The second neural network model is used for estimating the orientation of a mobile robot using features derived from both the centre and side cameras. The third neural network model is used to estimate the orientation using features derived from the composition matrix. The fourth neural network model is used for estimating the orientation using Singular Value Decomposition (SVD) technique. Simulation results show that the proposed algorithm can be used to estimate the orientation of the mobile robot accurately. 2009-11-17T02:00:48Z 2009-11-17T02:00:48Z 2009-10-11 Working Paper p.3B4 1 - 3B4 - 6 http://hdl.handle.net/123456789/7301 en Proceedings of the International Conference on Man-Machine Systems (ICoMMS 2009) Universiti Malaysia Perlis
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Mobile robots
Robotics
Robots -- Design and construction
Intelligent mobile robots
Robot vision
Image processing
spellingShingle Mobile robots
Robotics
Robots -- Design and construction
Intelligent mobile robots
Robot vision
Image processing
Paulraj, Murugesapandian
Fadzilah, Hashim
R. Badlishah, Ahmad
Hema, Chengalvarayan Radhakrishnamurthy
Abdul Hamid, Adom
Active stereo vision based system for estimation of Mobile Robot Orientation using composition matrix
description Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.
author2 paul@unimap.edu.my
author_facet paul@unimap.edu.my
Paulraj, Murugesapandian
Fadzilah, Hashim
R. Badlishah, Ahmad
Hema, Chengalvarayan Radhakrishnamurthy
Abdul Hamid, Adom
format Working Paper
author Paulraj, Murugesapandian
Fadzilah, Hashim
R. Badlishah, Ahmad
Hema, Chengalvarayan Radhakrishnamurthy
Abdul Hamid, Adom
author_sort Paulraj, Murugesapandian
title Active stereo vision based system for estimation of Mobile Robot Orientation using composition matrix
title_short Active stereo vision based system for estimation of Mobile Robot Orientation using composition matrix
title_full Active stereo vision based system for estimation of Mobile Robot Orientation using composition matrix
title_fullStr Active stereo vision based system for estimation of Mobile Robot Orientation using composition matrix
title_full_unstemmed Active stereo vision based system for estimation of Mobile Robot Orientation using composition matrix
title_sort active stereo vision based system for estimation of mobile robot orientation using composition matrix
publisher Universiti Malaysia Perlis
publishDate 2009
url http://dspace.unimap.edu.my/xmlui/handle/123456789/7301
_version_ 1643788753029824512
score 13.160551

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