Two-dimensional Position and Orientation Tracking of Micro-robot with a Webcam

Title
Two-dimensional Position and Orientation Tracking of Micro-robot with a Webcam
Authors
김진수정찬열김승종
Keywords
Micro-robot; Orientation tracking; Position tracking; Vision recognition
Issue Date
2013-10
Publisher
the 44th International Symposium on Robotics
Abstract
This paper proposes a 2D position and orientation tracking method of a micro-robot based on vision recognition. Position tracking is easy and simple, but the orientation of the micro-robot is hard to correctly recognize because the micro-robot is small and symmetrical. Since the orientation of the micro-robot is closely related to propulsion direction, it is necessary to recognize the orientation to accurately control the micro-robot. In this paper, the vision-based recognition result for orientation is compensated by expecting the direction of magnetic field from the Helmholtz coil currents.
URI
http://pubs.kist.re.kr/handle/201004/46270
Appears in Collections:
KIST Publication > Conference Paper
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