TY - GEN
T1 - Two-dimensional position and orientation tracking of micro-robot with a webcam
AU - Kim, Jinsoo
AU - Jung, Chan Yul
AU - Kim, Seung Jong
PY - 2013
Y1 - 2013
N2 - This paper proposes a 2D position and orientation tracking method of a micro-robot based on vision recognition. Position tracking is easy and simple, but the orientation of the micro-robot is hard to correctly recognize because the micro-robot is small and symmetrical. Since the orientation of the micro-robot is closely related to propulsion direction, it is necessary to recognize the orientation to accurately control the micro-robot. In this paper, the vision-based recognition result for orientation is compensated by expecting the direction of magnetic field from the Helmholtz coil currents.
AB - This paper proposes a 2D position and orientation tracking method of a micro-robot based on vision recognition. Position tracking is easy and simple, but the orientation of the micro-robot is hard to correctly recognize because the micro-robot is small and symmetrical. Since the orientation of the micro-robot is closely related to propulsion direction, it is necessary to recognize the orientation to accurately control the micro-robot. In this paper, the vision-based recognition result for orientation is compensated by expecting the direction of magnetic field from the Helmholtz coil currents.
KW - Micro-robot
KW - Orientation tracking
KW - Position tracking
KW - Vision recognition
UR - http://www.scopus.com/inward/record.url?scp=84893274899&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893274899&partnerID=8YFLogxK
U2 - 10.1109/ISR.2013.6695654
DO - 10.1109/ISR.2013.6695654
M3 - Conference contribution
AN - SCOPUS:84893274899
SN - 9781479911738
T3 - 2013 44th International Symposium on Robotics, ISR 2013
BT - 2013 44th International Symposium on Robotics, ISR 2013
T2 - 2013 44th IEEE International Symposium on Robotics, ISR 2013
Y2 - 24 October 2013 through 26 October 2013
ER -