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001-es BibID:	BIBFORM012430
Első szerző:	Bolla Kálmán (programtervező)
Cím:	A fast visual perception system based kin recognition and distance evaluation method in a robot swarm / Kálmán Bolla, Tamás Kovács, Gábor Fazekas
Dátum:	2010
ISSN:	1587-4400
Megjegyzések:	In this paper we develop a reliable visual recognition and distance evaluation algorithm to detect kin robots in a mobile-robot swarm. Every robot in the swarm is equipped with a zebra pattern and our idea is based on the Fast Fourier Transform (FFT), which has a relatively low complexity. We sampled the camera images of the robot by a vertical sampling method, and the sampled one dimensional vectors were the inputs of the FFT. The basis of the pattern localization is that there is a distinguishable peak in the FFT spectrum if the sample went through a horizontal zebra pattern. If this peak is larger than an empirically determined threshold value the algorithm finds the location of a kin robot. Moreover, based on the FFT spectrum this method it is capable to estimate the distance of the kin robot. To test our idea several experiments were accomplished with Surveyor SRV-1 robots, which have an on-board camera system. The captured pictures of the observer robot were sent to and processed in a PC using MATLAB program.
Tárgyszavak:	Műszaki tudományok Informatikai tudományok idegen nyelvű folyóiratközlemény hazai lapban kin recognition robot swarm distance evaluation
Megjelenés:	GAMF Közleményei, Kecskemét. - 24 (2010), p. 49-61. -
További szerzők:	Kovács Tamás (1968-) (fizikus) Fazekas Gábor (1952-) (informatikus, matematikus)
Internet cím:	Intézményi repozitóriumban (DEA) tárolt változat
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