| The Performance Analysis of Integrated Navigation System Based on the Tactical Communication and VISION for the Accurate Localization of Unmanned Robot |
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Ji-Hoon Choi, Yong-Woon Park, Jae-Bok Song, In-So Kweon |
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2Korea University
3KAIST |
| 무인로봇 정밀위치추정을 위한 전술통신 및 영상 기반의 통합항법 성능 분석 |
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최지훈, 박용운, 송재복, 권인소 |
1국방과학연구소
2고려대학교
3한국과학기술원 |
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| Abstract |
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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. |
| Key Words:
Image Matching, Localization, Reference Station, VISION |
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