title: An intelligent space for mobile robot localization using a multi-camera system.
abstract: This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization.
authors.affiliation: Department of Electro-Mechanics, Federal Institute of Education, Science and Technology of Espirito Santo (IFES), Estrada da Tartaruga, s/n, 29215-090, Guarapari, Espirito Santo, Brazil. mariana.rampinelli@ifes.edu.br.
authors.forename: Mariana
authors.initials: M
authors.lastname: Rampinelli
authors.affiliation: Department of Electrical Engineering, Federal University of Espirito Santo (UFES), Av. Fernando Ferrari, s/n, 29075-910, Vitoria, Espirito Santo, Brazil. vitorcovre@gmail.com.
authors.forename: Vitor Buback
authors.initials: VB
authors.lastname: Covre
authors.affiliation: Department of Electrical Engineering, Federal University of Espirito Santo (UFES), Av. Fernando Ferrari, s/n, 29075-910, Vitoria, Espirito Santo, Brazil. mendonca.felippe@gmail.com.
authors.forename: Felippe Mendonça
authors.initials: FM
authors.lastname: de Queiroz
authors.affiliation: Department of Electrical Engineering, Federal University of Espirito Santo (UFES), Av. Fernando Ferrari, s/n, 29075-910, Vitoria, Espirito Santo, Brazil. raquel@ele.ufes.br.
authors.forename: Raquel Frizera
authors.initials: RF
authors.lastname: Vassallo
authors.affiliation: Department of Electrical Engineering, Federal University of Espirito Santo (UFES), Av. Fernando Ferrari, s/n, 29075-910, Vitoria, Espirito Santo, Brazil. teodiano.bastos@ufes.br.
authors.forename: Teodiano Freire
authors.initials: TF
authors.lastname: Bastos-Filho
authors.affiliation: Electronics Department, University of Alcala, Campus Universitario s/n, 28805, Alcala de Henares, Madrid, Spain. mazo@depeca.uah.es.
authors.forename: Manuel
authors.initials: M
authors.lastname: Mazo
mesh_terms: D000465:Algorithms; D001185:Artificial Intelligence; D002138:Calibration; D003198:Computer Simulation; D006801:Humans; D007091:Image Processing, Computer-Assisted / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D014910:Wheelchairs