A Qualitative-Probabilistic Approach to Autonomous Mobile Robot Self Localisation and Self Vision Calibration

Valquiria Fenelon Pereira, Fabio Gagliardi Cozman, Paulo Eduardo Santos, Murilo Fernandes Martins

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Typically, the spatial features of a robot's environment are specified using metric coordinates, and well-known mobile robot localisation techniques are used to track the exact robot position. In this paper, a qualitative-probabilistic approach is proposed to address the problem of mobile robot localisation. This approach combines a recently proposed logic theory called Perceptual Qualitative Reasoning about Shadows (PQRS) with a Bayesian filter. The approach herein proposed was systematically evaluated through experiments using a mobile robot in a real environment, where the sequential prediction and measurement steps of the Bayesian filter are used to both self-localisation and self-calibration of the robot's vision system from the observation of object's and their shadows. The results demonstrate that the qualitative-probabilistic approach effectively improves the accuracy of robot localisation, keeping the vision system well calibrated so that shadows can be properly detected.

Original languageEnglish
Title of host publication2013 Brazilian Conference on Intelligent Systems
Place of PublicationFortaleza
PublisherIEEE Computer Society
Pages157-162
Number of pages6
ISBN (Electronic)978-0-7695-5092-3
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2nd Brazilian Conference on Intelligent Systems, BRACIS 2013 - Fortaleza, Ceara, Brazil
Duration: 20 Oct 201324 Oct 2013

Conference

Conference2nd Brazilian Conference on Intelligent Systems, BRACIS 2013
CountryBrazil
CityFortaleza, Ceara
Period20/10/1324/10/13

Keywords

  • Bayesian Filtering
  • Mobile Robot
  • Qualitative Spatial Reasoning
  • Self-localisation

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  • Cite this

    Pereira, V. F., Cozman, F. G., Santos, P. E., & Martins, M. F. (2013). A Qualitative-Probabilistic Approach to Autonomous Mobile Robot Self Localisation and Self Vision Calibration. In 2013 Brazilian Conference on Intelligent Systems (pp. 157-162). [6726442] IEEE Computer Society. https://doi.org/10.1109/BRACIS.2013.34