Localization of a tracked robot based on fuzzy fusion of wheel odometry and visual odometry in indoor and outdoor environments

Hyeong Ha Ham; Sung Ho Hong; Jae Bok Song; Joo Hyun Baek; Jae Kwan Ryu

doi:10.3795/KSME-A.2012.36.6.629

Localization of a tracked robot based on fuzzy fusion of wheel odometry and visual odometry in indoor and outdoor environments

Hyeong Ha Ham, Sung Ho Hong, Jae Bok Song, Joo Hyun Baek, Jae Kwan Ryu

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

Tracked robots usually have poor localization performance because of slippage of their tracks. This study proposes a new localization method for tracked robots that uses fuzzy fusion of stereo-camera-based visual odometry and encoder-based wheel odometry. Visual odometry can be inaccurate when an insufficient number of visual features are available, while the encoder is prone to accumulating errors when large slips occur. To combine these two methods, the weight of each method was controlled by a fuzzy decision depending on the surrounding environment. The experimental results show that the proposed scheme improved the localization performance of a tracked robot.

Original language	English
Pages (from-to)	629-635
Number of pages	7
Journal	Transactions of the Korean Society of Mechanical Engineers, A
Volume	36
Issue number	6
DOIs	https://doi.org/10.3795/KSME-A.2012.36.6.629
Publication status	Published - 2012 Jun

Keywords

Fuzzy fusion
Harris corner detector
Slip velocity
Stereo camera
Tracked robot

ASJC Scopus subject areas

Mechanical Engineering

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10.3795/KSME-A.2012.36.6.629

Cite this

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title = "Localization of a tracked robot based on fuzzy fusion of wheel odometry and visual odometry in indoor and outdoor environments",

abstract = "Tracked robots usually have poor localization performance because of slippage of their tracks. This study proposes a new localization method for tracked robots that uses fuzzy fusion of stereo-camera-based visual odometry and encoder-based wheel odometry. Visual odometry can be inaccurate when an insufficient number of visual features are available, while the encoder is prone to accumulating errors when large slips occur. To combine these two methods, the weight of each method was controlled by a fuzzy decision depending on the surrounding environment. The experimental results show that the proposed scheme improved the localization performance of a tracked robot.",

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AU - Ham, Hyeong Ha

AU - Hong, Sung Ho

AU - Song, Jae Bok

AU - Baek, Joo Hyun

AU - Ryu, Jae Kwan

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N2 - Tracked robots usually have poor localization performance because of slippage of their tracks. This study proposes a new localization method for tracked robots that uses fuzzy fusion of stereo-camera-based visual odometry and encoder-based wheel odometry. Visual odometry can be inaccurate when an insufficient number of visual features are available, while the encoder is prone to accumulating errors when large slips occur. To combine these two methods, the weight of each method was controlled by a fuzzy decision depending on the surrounding environment. The experimental results show that the proposed scheme improved the localization performance of a tracked robot.

AB - Tracked robots usually have poor localization performance because of slippage of their tracks. This study proposes a new localization method for tracked robots that uses fuzzy fusion of stereo-camera-based visual odometry and encoder-based wheel odometry. Visual odometry can be inaccurate when an insufficient number of visual features are available, while the encoder is prone to accumulating errors when large slips occur. To combine these two methods, the weight of each method was controlled by a fuzzy decision depending on the surrounding environment. The experimental results show that the proposed scheme improved the localization performance of a tracked robot.

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KW - Harris corner detector

KW - Slip velocity

KW - Stereo camera

KW - Tracked robot

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Localization of a tracked robot based on fuzzy fusion of wheel odometry and visual odometry in indoor and outdoor environments

Abstract

Keywords

ASJC Scopus subject areas

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