TY - GEN
T1 - Autonomous docking for an eROSI robot based on a vision system with points clustering
AU - Hyeun, Jeong Min
AU - Drenner, Andrew
AU - Papanikolopoulos, Nikolaos
PY - 2007
Y1 - 2007
N2 - This paper presents an autonomous docking system based on visual cues on a docking station. Autonomous docking is essential for large scale robotic teams to be delivered by larger robots, recovered, recharged, and redeployed for continuous operation. Using a computer vision based approach, we identify cues to line up for docking by extracting corner pixels and combining this information with color information. Potential target points are extracted and clustered using Euclidean distance in the image plane. Using these clusters of points the appropriate motion behavior is selected to reposition the robot into the desired position and orientation. This paper will present examples of this implementation using an eROSI robot which uses only vision to navigate.
AB - This paper presents an autonomous docking system based on visual cues on a docking station. Autonomous docking is essential for large scale robotic teams to be delivered by larger robots, recovered, recharged, and redeployed for continuous operation. Using a computer vision based approach, we identify cues to line up for docking by extracting corner pixels and combining this information with color information. Potential target points are extracted and clustered using Euclidean distance in the image plane. Using these clusters of points the appropriate motion behavior is selected to reposition the robot into the desired position and orientation. This paper will present examples of this implementation using an eROSI robot which uses only vision to navigate.
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U2 - 10.1109/MED.2007.4433719
DO - 10.1109/MED.2007.4433719
M3 - Conference contribution
AN - SCOPUS:50249117201
SN - 142441282X
SN - 9781424412822
T3 - 2007 Mediterranean Conference on Control and Automation, MED
BT - 2007 Mediterranean Conference on Control and Automation, MED
T2 - 2007 Mediterranean Conference on Control and Automation, MED
Y2 - 27 July 2007 through 29 July 2007
ER -