An Absolute Robot Pose Estimation System Based on a Ceiling Camera Image Using a Neural Network

摘要

We present a system that calculates the position and the orientation of the robot using camera in the real time. There are several methods that calculate parameters of the relation between the world coordinate and the camera coordinate in the image processing area. Instead of the method using the parameteric way, our method obtains the robot pose by using the neural network. In this process, we need to remove the distortion of the pinhole camera image resulting in pose error orientation in the camera image. The neural network essentially spread the distorted image. Our method exhibits high accuracy with simple calculations.