Estimation of Mobile Robot Pose from Optical Mouses

  • Lenka Mudrová
  • Jan Faigl
  • Jaroslav Halgašík
  • Tomáš Krajník
Part of the Communications in Computer and Information Science book series (CCIS, volume 156)

Abstract

This paper describes a simple method of dead-reckoning based on off-the-shelf components: optical mouses and a laptop. The problem is formulated as finding a transformation of mouses positions to position of the robot. The formulation of the transformation is based on a method already used in range-based localization. Beside a solution of the transformation, the paper provides description of practical application of mouse based localization for a home made robot. The paper considers identification and mouse data reading procedures as well. The presented approach has been evaluated in several real experiments and the proposed localization provides competitive results to the odometry based on high-precision stepper motors.

Keywords

Mobile Robot Robot Movement Iterative Close Point Iterative Close Point Robot Position 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Lenka Mudrová
    • 1
  • Jan Faigl
    • 1
  • Jaroslav Halgašík
    • 1
  • Tomáš Krajník
    • 1
  1. 1.The Gerstner Laboratory for Intelligent Decision Making and Control, Department of Cybernetics, Faculty of Electrical EngineeringCzech Technical University in PragueCzech Republic

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