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Self‐position estimation of an autonomous mobile robot with variable processing time
Author(s) -
Doki Kae,
Isetani Naohiro,
Torii Akihiro,
Ueda Akiteru,
Tsutsumi Hirotsugu
Publication year - 2010
Publication title -
electronics and communications in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.131
H-Index - 13
eISSN - 1942-9541
pISSN - 1942-9533
DOI - 10.1002/ecj.10223
Subject(s) - position (finance) , computer science , computer vision , artificial intelligence , mobile robot , robot , image (mathematics) , matching (statistics) , template matching , image processing , mathematics , statistics , finance , economics
This paper presents a new self‐position estimation method for an autonomous mobile robot whose processing time can be varied. In this method, the current position of the robot is estimated by image template matching with the normalized correlation coefficient between the input image and stored images. Based on the idea of anytime sensing, the time for self‐position estimation can be varied by changing the image size. In order to realize efficient self‐position estimation, image templates are generated by means of Genetic Algorithm. The usefulness of the proposed method is shown through simulation results using test images and experimental results obtained with a real robot. © 2010 Wiley Periodicals, Inc. Electron Comm Jpn, 93(11): 46–58, 2010; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/ecj.10223