A Low Cost Vision Based Hybrid Fiducial Mark Tracking Technique for Mobile Industrial Robots
The field of robotic vision is developing rapidly. Robots can react
intelligently and provide assistance to user activities through sentient
computing. Since industrial applications pose complex requirements
that cannot be handled by humans, an efficient low cost and robust
technique is required for the tracking of mobile industrial robots. The
existing sensor based techniques for mobile robot tracking are
expensive and complex to deploy, configure and maintain. Also some
of them demand dedicated and often expensive hardware. This paper
presents a low cost vision based technique called “Hybrid Fiducial
Mark Tracking” (HFMT) technique for tracking mobile industrial
robot. HFMT technique requires off-the-shelf hardware (CCD
cameras) and printable 2-D circular marks used as fiducials for
tracking a mobile industrial robot on a pre-defined path. This proposed
technique allows the robot to track on a predefined path by using
fiducials for the detection of Right and Left turns on the path and
White Strip for tracking the path. The HFMT technique is implemented and tested on an indoor mobile robot at our laboratory.
Experimental results from robot navigating in real environments have
confirmed that our approach is simple and robust and can be adopted in any hostile industrial environment where humans are unable to work.
Keywords: Context-Aware Computing, Mobile Robots Path Tracking, Fiducial Detection, Computer Vision, Autonomous Robot Navigation.
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ABOUT THE AUTHORS
Mohammed Y Aalsalem
Dr. Muhammad Y Aalsalem is currently dean of e-learning and assistant professor at School of Computer Science, Jazan University. Kingdom of Saudi Arabia. He received his PhD in Computer Science from Sydney University. His research interests include real time communication, network security, distributed systems, and wireless systems. In particular, he is currently leading in a research group developing flood warning system using real time sensors. He is Program Committee of the International Conference on Computer Applications in Industry and Engineering, CAINE2011. He is regular reviewer for many international journals such as King Saud University Journal (CCIS-KSU Journal).
Wazir Zada Khan
Wazir Zada Khan is currently with School of Computer Science, Jazan University, Kingdom of Saudi Arabia. He received his MS in Computer Science from Comsats Institute of Information Technology, Pakistan. His research interests include network and system security, sensor networks, wireless and ad hoc networks. His subjects of interest include Sensor Networks, Wireless Networks, Network Security and Digital Image Processing, Computer Vision.
Quratul Ain Arshad
Quratul Ain Arshad received her BS in Computer Science from Comsats Institute of Information Technology, Pakistan. Her research interests include network security, trust and reputation in sensor networks and ad hoc networks. Her subjects of interest include Network Security, Digital Image Processing and Computer Vision.
Mohammed Y Aalsalem
Dr. Muhammad Y Aalsalem is currently dean of e-learning and assistant professor at School of Computer Science, Jazan University. Kingdom of Saudi Arabia. He received his PhD in Computer Science from Sydney University. His research interests include real time communication, network security, distributed systems, and wireless systems. In particular, he is currently leading in a research group developing flood warning system using real time sensors. He is Program Committee of the International Conference on Computer Applications in Industry and Engineering, CAINE2011. He is regular reviewer for many international journals such as King Saud University Journal (CCIS-KSU Journal).
Wazir Zada Khan
Wazir Zada Khan is currently with School of Computer Science, Jazan University, Kingdom of Saudi Arabia. He received his MS in Computer Science from Comsats Institute of Information Technology, Pakistan. His research interests include network and system security, sensor networks, wireless and ad hoc networks. His subjects of interest include Sensor Networks, Wireless Networks, Network Security and Digital Image Processing, Computer Vision.
Quratul Ain Arshad
Quratul Ain Arshad received her BS in Computer Science from Comsats Institute of Information Technology, Pakistan. Her research interests include network security, trust and reputation in sensor networks and ad hoc networks. Her subjects of interest include Network Security, Digital Image Processing and Computer Vision.
