Localização de robôs móveis em ambientes fechados utilizando câmeras montadas no teto

The localization of mobile robots in indoor environments finds lots of problems such as accumulated errors and the constant changes that occur at these places. A technique called global vision intends to localize robots using images acquired by cameras placed in such a way that covers the place where the robots movement takes place. Localization is obtained by marks put on top of the robot. Algorithms applied to the images search for the mark on top of the robot and by finding the mark they are able to get the position and orientation of the robot. Such techniques used to face some difficulties related with the hardware capacity, fact that limited their execution in real time. However, the technological advances of the last years changed that situation and enabling the development and execution of such algorithms in plain capacity. The proposal specified here intends to develop a mobile robot localization system at indoor environments using a technique called global vision to track the robot and acquire the images, all in real time, intending to improve the robot localization process inside the environment. Being a localization method that takes just actual information in its calculations, the robot localization using images fit into the needs of this kind of place. Besides, it enables more accurate results and in real time, what is exactly the museum application needs.

Uma plataforma adaptável para localização em ambientes internos

Location systems have become increasingly part of people's lives. For outdoor environments, GPS appears as standard technology, widely disseminated and used. However, people usually spend most of their daily time in indoor environments, such as: hospitals, universities, factories, buildings, etc. In these environments, GPS does not work properly causing an inaccurate positioning. Currently, to perform the location of people or objects in indoor environments no single technology could reproduce for indoors the same result achieved by GPS for outdoors environments. Due to this, it is necessary to consider use of information from multiple sources using diferent technologies. Thus, this work aims to build an Adaptable Platform for Indoor location. Based on this goal, the IndoLoR platform is proposed. This platform aims to allow information reception from diferent sources, data processing, data fusion, data storage and data retrieval for the indoor location context.

Uma plataforma adaptável para localização em ambientes internos

Location systems have become increasingly part of people's lives. For outdoor environments, GPS appears as standard technology, widely disseminated and used. However, people usually spend most of their daily time in indoor environments, such as: hospitals, universities, factories, buildings, etc. In these environments, GPS does not work properly causing an inaccurate positioning. Currently, to perform the location of people or objects in indoor environments no single technology could reproduce for indoors the same result achieved by GPS for outdoors environments. Due to this, it is necessary to consider use of information from multiple sources using diferent technologies. Thus, this work aims to build an Adaptable Platform for Indoor location. Based on this goal, the IndoLoR platform is proposed. This platform aims to allow information reception from diferent sources, data processing, data fusion, data storage and data retrieval for the indoor location context.