Mobile robot motion estimation using Hough transform
View/ Open:
URI (for links/citations):
http://iopscience.iop.org/article/10.1088/1742-6596/1015/3/032161/metahttp://elib.sfu-kras.ru/handle/2311/111502
Author:
Алдошкин, Д. Н.
Ямских Т. Н
Царев Р. Ю
Corporate Contributor:
Институт космических и информационных технологий
Кафедра разговорного иностранного языка
Date:
2018-05Journal Name:
JournalofPhysics: ConferenceSeriesJournal Quartile in Scopus:
Q3Journal Quartile in Web of Science:
без квартиляBibliographic Citation:
Алдошкин, Д. Н. Mobile robot motion estimation using Hough transform [Текст] / Д. Н. Алдошкин, Ямских Т. Н, Царев Р. Ю // JournalofPhysics: ConferenceSeries. — 2018. — Т. 1015 (№ 3).Abstract:
This paper proposes an algorithm for estimation of mobile robot motion. The geometry of surrounding space is described with range scans (samples of distance measurements) taken by the mobile robot's range sensors. A similar sample of space geometry in any arbitrary preceding moment of time or the environment map can be used as a reference. The suggested algorithm is invariant to isotropic scaling of samples or map that allows using samples measured in different units and maps made at different scales. The algorithm is based on Hough transform: it maps from measurement space to a straight-line parameters space. In the straight-line parameters, space the problems of estimating rotation, scaling and translation are solved separately breaking down a problem of estimating mobile robot localization into three smaller independent problems. The specific feature of the algorithm presented is its robustness to noise and outliers inherited from Hough transform. The prototype of the system of mobile robot orientation is described.
Collections:
Metadata:
Show full item recordRelated items
Showing items related by title, author, creator and subject.
-
Mobile robot motion estimation using Hough transform
Алдошкин, Д. Н.; Ямских, Т. Н.; Царев, Р. Ю. (2018-05)This paper proposes an algorithm for estimation of mobile robot motion. The geometry of surrounding space is described with range scans (samples of distance measurements) taken by the mobile robot's range sensors. A similar ... -
Fast algorithm of planning a robot's path in 2-dimensional space on the basis of triangulation
Dmitry N. Aldoshkin; Alexander N. Pupkov; Roman Yu. Tsarev (2016-10)This article describes an approach to solution of a problem of planning a mobile robot's path in 2-dimentional space with obstacles. It gives the problem statement, which implies that there is no prior information about ... -
Evaluation of two-dimensional angular orientation of a mobile robot by a modified algorithm based on Hough Transform
Алдошкин, Д. Н.; Царев, Р. Ю. (2018-04)This paper proposes an algorithm that assesses the angular orientation of a mobile robot with respect to its referential position or a map of the surrounding space. In the framework of the suggested method, the orientation ... -
Внутриорганизационная мобильность на постсоветских предприятиях
Бурлуцкая, М.Г.; Burlutskaya, Maria G. (Сибирский федеральный университет. Siberian Federal University., 2011-06)This paper studies the interaction of restructuring processes and changes in the internal labour markets and flows of intrafirm mobility at post-soviet enterprises. Using data from case study of two Ural plants, we attempt ... -
Обоснование целесообразности изучения транспортной подвижности населения на основе мониторинга абонентов мобильной связи
Блянкинштейн, И.М.; Фадеев, А.И.; Фёдоров, А.В.; Шадрин, Н.В.; Махова, Е.Г.; Blyankinshtein, Igor M.; Fadeev, Alexander I.; Fedorov, Andrey V.; Shadrin, Nikolay V.; Makhova, Elena G. (Сибирский федеральный университет. Siberian Federal University., 2015-03)Обосновывается целесообразность изучения транспортной подвижности населения на основе мониторинга абонентов мобильной связи. Рассмотрены технический, юридический, статистический, организационный и экономические аспекты ...