Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
권호 표지
DOI QR코드

DOI QR Code

The Performance Analysis of Integrated Navigation System Based on the Tactical Communication and VISION for the Accurate Localization of Unmanned Robot

무인로봇 정밀위치추정을 위한 전술통신 및 영상 기반의 통합항법 성능 분석

  • Received : 2010.09.20
  • Accepted : 2011.02.25
  • Published : 2011.04.05
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a navigation system based on the tactical communication and vision system in outdoor environments which is applied to unmanned robot for perimeter surveillance operations. GPS errors of robot are compensated by the reference station of C2(command and control) vehicle and WiBro(Wireless Broadband) is used for the communication between two systems. In the outdoor environments, GPS signals can be easily blocked due to trees and buildings. In this environments, however, vision system is very efficient because there are many features. With the feature MAP around the operation environments, the robot can estimate the position by the image matching and pose estimation. In the navigation system, thus, operation modes is switched by navigation manager according to some environment conditions. The experimental results show that the unmanned robot can estimate the position very accurately in outdoor environment.

Keywords

References

  1. M. Kihara, "Study of a GPS Satellite Selection Policy to Improve Positioning Accuracy", Proc. IEEE Position Location Navigation Symp., PLANS'94, Las Vegas, NV, USA, pp. 267-273, Apr., 1994.
  2. Yi Bian, "Modeling and Simulation of WADGPS Systems", OCEANS '96. MTS/IEEE. 'Prospects for the 21st Century', Conference Proceedings, Vol. 1, pp. 188-195, 1996.
  3. Y. Morales, T. Tsubouchi, "DGPS, RTK-GPS and Starfire DGPS Performance Under Tree Shading Environments", Integration Technology, ICIT '07. IEEE International Conference, Mar. pp. 519-524, 2007.
  4. Herbert Bay, Andreas Ess, and Tinne Tuytelaars, "SURF : Speeded Up Robust Features", Computer Vision and Image Understanding(CVIU), Vol. 110, No. 3, pp. 346-359, 2008. https://doi.org/10.1016/j.cviu.2007.09.014
  5. D. Nister, H. Stewenius, "Scalable Recognition with a Vocabulary Tree", Proc. of IEEE International Conference on Computer Vision and Pattern Recognition, Vol. 2, pp. 2161-2168, 2006.
  6. R. M. Haralick, D. Lee, K. Ottenburg, and M. Nolle, "Analysis and Solutions of the Three Point Perspective Pose Estimation Problem", International Journal of Computer Vision, Vol. 13, No. 3, pp. 331-356, Dec. 1994. https://doi.org/10.1007/BF02028352

Cited by

  1. Localization with Two Optical Flow Sensors for Small Unmanned Ground Vehicles vol.16, pp.2, 2013, https://doi.org/10.9766/KIMST.2013.16.2.095