Two-dimensional position and orientation tracking of micro-robot with a webcam

Jinsoo Kim, Chan Yul Jung, Seung-Jong Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a 2D position and orientation tracking method of a micro-robot based on vision recognition. Position tracking is easy and simple, but the orientation of the micro-robot is hard to correctly recognize because the micro-robot is small and symmetrical. Since the orientation of the micro-robot is closely related to propulsion direction, it is necessary to recognize the orientation to accurately control the micro-robot. In this paper, the vision-based recognition result for orientation is compensated by expecting the direction of magnetic field from the Helmholtz coil currents.

Original languageEnglish
Title of host publication2013 44th International Symposium on Robotics, ISR 2013
DOIs
Publication statusPublished - 2013 Dec 1
Externally publishedYes
Event2013 44th IEEE International Symposium on Robotics, ISR 2013 - Seoul, Korea, Republic of
Duration: 2013 Oct 242013 Oct 26

Publication series

Name2013 44th International Symposium on Robotics, ISR 2013

Other

Other2013 44th IEEE International Symposium on Robotics, ISR 2013
CountryKorea, Republic of
CitySeoul
Period13/10/2413/10/26

Fingerprint

Robots
Propulsion
Magnetic fields

Keywords

  • Micro-robot
  • Orientation tracking
  • Position tracking
  • Vision recognition

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Kim, J., Jung, C. Y., & Kim, S-J. (2013). Two-dimensional position and orientation tracking of micro-robot with a webcam. In 2013 44th International Symposium on Robotics, ISR 2013 [6695654] (2013 44th International Symposium on Robotics, ISR 2013). https://doi.org/10.1109/ISR.2013.6695654

Two-dimensional position and orientation tracking of micro-robot with a webcam. / Kim, Jinsoo; Jung, Chan Yul; Kim, Seung-Jong.

2013 44th International Symposium on Robotics, ISR 2013. 2013. 6695654 (2013 44th International Symposium on Robotics, ISR 2013).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kim, J, Jung, CY & Kim, S-J 2013, Two-dimensional position and orientation tracking of micro-robot with a webcam. in 2013 44th International Symposium on Robotics, ISR 2013., 6695654, 2013 44th International Symposium on Robotics, ISR 2013, 2013 44th IEEE International Symposium on Robotics, ISR 2013, Seoul, Korea, Republic of, 13/10/24. https://doi.org/10.1109/ISR.2013.6695654
Kim J, Jung CY, Kim S-J. Two-dimensional position and orientation tracking of micro-robot with a webcam. In 2013 44th International Symposium on Robotics, ISR 2013. 2013. 6695654. (2013 44th International Symposium on Robotics, ISR 2013). https://doi.org/10.1109/ISR.2013.6695654
Kim, Jinsoo ; Jung, Chan Yul ; Kim, Seung-Jong. / Two-dimensional position and orientation tracking of micro-robot with a webcam. 2013 44th International Symposium on Robotics, ISR 2013. 2013. (2013 44th International Symposium on Robotics, ISR 2013).
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