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Proceedings Paper

Plugin-docking system for autonomous charging using particle filter
Author(s): Hiroshi Koyasu; Masayoshi Wada
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Paper Abstract

Autonomous charging of the robot battery is one of the key functions for the sake of expanding working areas of the robots. To realize it, most of existing systems use custom docking stations or artificial markers. By the other words, they can only charge on a few specific outlets. If the limit can be removed, working areas of the robots significantly expands. In this paper, we describe a plugin-docking system for the autonomous charging, which does not require any custom docking stations or artificial markers. A single camera is used for recognizing the 3D position of an outlet socket. A particle filter-based image tracking algorithm which is robust to the illumination change is applied. The algorithm is implemented on a robot with an omnidirectional moving system. The experimental results show the effectiveness of our system.

Paper Details

Date Published: 14 May 2017
PDF: 5 pages
Proc. SPIE 10338, Thirteenth International Conference on Quality Control by Artificial Vision 2017, 1033819 (14 May 2017); doi: 10.1117/12.2266974
Show Author Affiliations
Hiroshi Koyasu, Tokyo Univ. of Agriculture and Technology (Japan)
Masayoshi Wada, Tokyo Univ. of Agriculture and Technology (Japan)


Published in SPIE Proceedings Vol. 10338:
Thirteenth International Conference on Quality Control by Artificial Vision 2017
Hajime Nagahara; Kazunori Umeda; Atsushi Yamashita, Editor(s)

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