Optimal Optical Mouse Array for High Performance Mobile Robot Velocity Estimation
Sungbok Kim,Hyunbin Kim +1 more
TL;DR: In this paper, the optimal array of optical mice for the accurate velocity estimation of a mobile robot is presented, where it is assumed that there can be some restriction on the installation of two or more optical mice at the bottom of the mobile robot.
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Abstract: This paper presents the optimal array of optical mice for the accurate velocity estimation of a mobile robot It is assumed that there can be some restriction on the installation of two or more optical mice at the bottom of a mobile robot First, the velocity kinematics of a mobile robot with an array of optical mice is derived, which maps the velocity of a mobile robot to the velocities of optical mice Second, taking into account the consistency in physical units, the uncertainty ellipsoid is obtained to represent the error characteristics of the mobile robot velocity estimation owing to noisy optical mouse measurements Third, a simple but effective performance index is defined as the inverse of the volume of the uncertainty ellipsoid, which can be used for the optimization of the optimal optical mouse placement Fourth, simulation results for the optimal placement of three optical mice within a given elliptical region are given
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Citations
Mobile Robot Localization Using Optical Mouse Sensor and Encoder Based on Kalman Filter Algorithm
X. Sang-Hyung Park,Soo-Yeong Yi +1 more
TL;DR: This study presents a new localization algorithm based on the Kalman filter, which uses an optical mouse sensor together with an encoder sensor of driving wheels to reduce the error associated with the coordinate estimation for a mobile robot.
1
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Daniel C. Dennett
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Robust mobile robot localization using optical flow sensors and encoders
Sooyong Lee,Jae-Bok Song +1 more
- 06 Jul 2004
TL;DR: A method has been developed which can accurately track position in both ideal kinematic conditions and otherwise using one or more optical flow sensors and available sensors, reliable positional estimates are made.
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A kinematic-independent dead-reckoning sensor for indoor mobile robotics
Andrea Bonarini,Matteo Matteucci,Marcello Restelli +2 more
- 28 Sep 2004
TL;DR: This sensor is based on a pair of optical mice rigidly connected to the robot body and its main advantages are that it is a low-cost solution with a precision comparable to classical shaft encoders.
63
•Journal Article
Mobile Robot Localization Using Optical Flow Sensors
Sooyong Lee,Jae-Bok Song +1 more
TL;DR: In this article, two position estimation methods were developed using a single optical flow sensor and a second using two optical sensors, which can accurately estimate position under ideal conditions and also when wheel slip perpendicular to the axis of the wheel occurs.