| Issue |
MATEC Web of Conferences
Volume 28, 2015
2015 the 4th International Conference on Advances in Mechanics Engineering (ICAME 2015)
|
|
|---|---|---|
| Article Number | 04002 | |
| Number of page(s) | 4 | |
| Section | Designing and Development of Robots | |
| DOI | https://doi.org/10.1051/matecconf/20152804002 | |
| Published online | 28 October 2015 | |
Deviation from Trajectory Detection in Vision based Robotic Navigation using SURF and Subsequent Restoration by Dynamic Auto Correction Algorithm
PES University, Bangalore, 560085, Karnataka, India
a Corresponding author: debrajpesit@gmail.com
Speeded Up Robust Feature (SURF) is used to position a robot with respect to an environment and aid in vision-based robotic navigation. During the course of navigation irregularities in the terrain, especially in an outdoor environment may deviate a robot from the track. Another reason for deviation can be unequal speed of the left and right robot wheels. Hence it is essential to detect such deviations and perform corrective operations to bring the robot back to the track. In this paper we propose a novel algorithm that uses image matching using SURF to detect deviation of a robot from the trajectory and subsequent restoration by corrective operations. This algorithm is executed in parallel to positioning and navigation algorithms by distributing tasks among different CPU cores using Open Multi-Processing (OpenMP) API.
© Owned by the authors, published by EDP Sciences, 2015
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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