Navigation for wheel mobile robot based on EKF with global vision system
Fan Xie, Shiyin Qin · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2008
In this pper, a new approach to wheel mobile robot navigation with global vision system is proposed. The moving object detection method with GMM (Gaussian Mixture Model) based background modeling is applied to extract the moving object from the image captured by a wide angle camera fixed on ceiling. Through a mapping transformation, the position of robot in the real world can be measured and the Extended Klman Filter is employed to obtain more accurate navigation data. With a series of simulations and experiments, the validity of this approach to wheel mobile robot navigation is verified.