Localization method of microrobots using vision system and wavelet transform
J.C. Ravassard, Sounkalo Dembélé, Patrick Sandoz, A. Janex, Nadine Le Fort-Piat · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1999
This paper addresses the localization problem in mobile robotics and microrobotics, which is necessary to be resolved for closed loop identification and control. An original method is developed which uses the image of a specific pattern and a signal processing method based on wavelet transforms. The pattern is made of two calibrated networks of straight lines perpendicular with respect to each other and which constitutes a reference phase excursion. With an adapted processing technique, a straight line equation is computed for each network characterizing its position as well as its orientation with a high accuracy. The intersection of those two perpendicular lines defines the mobile robot position and heading whose movement is studied. That technique leads to promising results: sub- micrometer accuracy in the position measurement.