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001-es BibID:BIBFORM012428
Első szerző:Bolla Kálmán (programtervező)
Cím:Compact Image Processing-based Kin Recognition, Distance Measurement and Identification Method in a Robot Swarm / K. Bolla, T. Kovacs, G. Fazekas
Megjegyzések:In this paper we develop a reliable visual recognition, distance measurement and identification algorithm to detect and identify 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. Besides, we modified the zebra pattern to a barcode like pattern, and so the identification of the swarm members is also possible. 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 előadáskivonat
kin recognition
distance measures
robot swarms
Megjelenés:2010 International Joint Conference on Computational Cybernetics and Technical Informatics. - p. 419-424. -
További szerzők:Kovács Tamás (1968-) (fizikus) Fazekas Gábor (1952-) (informatikus, matematikus)
Internet cím:DOI
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