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Omnidirectional-vision-based estimation for containment detection of a robotic mower

Yang, Junho and Chung, Soon-Jo and Hutchinson, Seth and Johnson, David and Kise, Michio (2015) Omnidirectional-vision-based estimation for containment detection of a robotic mower. In: 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 6344-6351. ISBN 978-1-4799-6923-4. http://resolver.caltech.edu/CaltechAUTHORS:20161221-075702098

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Abstract

In this paper, we present an omnidirectional-vision-based localization and mapping system which can detect whether a robotic mower is contained in a permitted area. We exploit a robot-centric mapping framework that exploits a differential equation of motion of the landmarks, which are referenced with respect to the robot body frame. The estimator in our system generates a 3D point-based map with landmarks. Concurrently, the estimator defines a boundary of the mowing area with the estimated trajectory of the mower. The estimated boundary and the landmark map are provided for the estimation of the mowing location and for the containment detection. We validate the effectiveness of our system through numerical simulations and present the results of the outdoor experiment that we conducted with our robotic mower.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ICRA.2015.7140090DOIArticle
http://ieeexplore.ieee.org/document/7140090/PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Hutchinson, Seth0000-0002-3949-6061
Additional Information:© 2015 IEEE. Date Added to IEEE Xplore: 02 July 2015. This material is based on work supported by John Deere.
Group:GALCIT
Record Number:CaltechAUTHORS:20161221-075702098
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161221-075702098
Official Citation:J. Yang, S. J. Chung, S. Hutchinson, D. Johnson and M. Kise, "Omnidirectional-vision-based estimation for containment detection of a robotic mower," 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 2015, pp. 6344-6351. doi: 10.1109/ICRA.2015.7140090
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:73047
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:21 Dec 2016 18:17
Last Modified:18 May 2017 21:27

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