(WO2006087542) VEHICLE LOCATION

(EN)A method for determining vehicle location, particularly the location of unmanned ground vehicles such as mobile robots, by determining the slip of the vehicle using a camera to take images of the surface as the vehicle moves. (FR)L'invention concerne un procédé permettant de déterminer l'emplacement d'un véhicule, en particulier l'emplacement de véhicules terrestres sans pilote, tels que des robots mobiles, consistant à déterminer le glissement du véhicule à l'aide d'une caméra conçue pour prendre des images de la surface au fur et à mesure que le véhicule se déplace

MOTION ESTIMATION AND SELF-LOCALIZATION BASED ON COMPUTER VISION AND ARTIFICIAL MARKER DEPOSITION

This paper presents a new approach of self-localization utilizing artificial markers deposited from the mobile robot during motion. The main idea of this system is to temporarily place artificial markers in the environment such as the surface the robot is maneuvering over. Once the markers are placed in the environment, they have zero speed, i.e. they represent the speed of the environment over which the robot is traversing. The speed of these markers with respect to the moving robot is then measured using a two dimensional (possibly three dimensional) sensor affixed to the robot. The proposed sensor system is composed of two main subsystems. The first subsystem generates the markers and places them on the surface. The second subsystem is a receiving element, which continuously acquires relative position signals from the markers placed on the surface. This new sensor concept is envisaged to be applied in the following areas, automotive sector, planetary exploration and underwater seabed exploration. This approach also can be extended easily for walking machines. Initial experiments employing a camera system as sensor have been conducted and results are presented

Visual odometry technique using circular marker identification for motion parameter estimation

This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support ..

Visual odometry technique using circular marker identification for motion parameter estimation

This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support ..

Model based system engineering for space robotics systems

The success of the Space robotic missions heavily relies on the performance of many interconnected systems and systems of systems. Deep understanding of the mission requirements, accurate system modelling and effective communication between systems, systems of systems and the outside world are critical to the success of these missions. This paper presents a thorough review of past and current system engineering practices and highlights the importance of Model Based System Engineering (MBSE), where model is a central artifact. This paper presents early work on the implementation of Systems Modelling Language (SysML) for modelling multimodal sensor system, which is part of the project INVERITAS for satellite servicing application. This paper also put forwards SysML based system engineering profile structure. The modular package structure would provide excellent portability and will help to create knowledge base for future projects