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Applications for autonomous agents and robot manipulators are natural for this methodology.

The possibility of using this methodology involves using closed environments, the walls are decorated with symbols icons in specific areas, the symbols contain by itself graphical information about where they are located; in this sense, by image processing and interpretation is possible to know the location of the object by looking at the icons. Design and Implementation The design and implementation of the system, as well as the Ansel 11Mbps Wireless LAN PC CARD platform is integrated with the following operation modules.

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The wireless communication with the control computer is achieved via a wireless access point. Iconographic set. Dummy enclosed environment for experiment. Image acquisition. Region of Interest ROI algorithm. Detection, interpretation and camera location algorithm.

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The main purpose of the system is to obtain the coordinates of a video camera, within a pre-establish coordinate reference system in a known working space. The system has to have recalibration capabilities in order to work in different working space dimensions for different applications.

Figure 1 shows the software modules. General configuration of software modules. Robot Arms Fig.

General configuration of the system. For testing purposes this was implemented in a dummy model of practical dimensions. Camera and network card. Object Location in Closed Environments for Robots Using an Iconographic Base area zone in order to get correlated information with physical real world location. The position of the icons allow subsequent analysis of displacements due to the perspective factors, by using geometrical models, according with this, it is possible to get the distance between the camera lens and the centroid of imaginary square as well as the angle between optical axis of the camera and the normal line crossing the imaginary square centroid. Several test shots to look for ranges of distance between the camera lens and the centre of the icon to get an acceptable work Ansel 11Mbps Wireless LAN PC CARD were carried out, resulting a maximum distance of 60 [cm] and a minimum distance of 20 [cm] for the experiment, for distances outside of this range was impossible to obtain the necessary parameters to obtain the required distance and angle of vision to get a real situation of experimental measurements of objects locations within the dummy model enclosed environment.


Once established these parameters it can be an operational region for each icon, in which the system will be able to obtain the position of the camera, this region is applicable for each of the four icons and will be called the Operating Region of the working space Figure 4a and 4b. Each icon frame was Ansel 11Mbps Wireless LAN PC CARD as depicted in Figure 5a and they were Ansel 11Mbps Wireless LAN PC CARD in each wall as indicated in Figure 5b. In addition to the above parameters, it was also necessary to obtain the minimum height in order to avoid external scenes images to the working environment being acquiredwhich will act in the form of noise causing failures in image processing, the height was established as 50 [cm].

The resulting dimensions proposed for the construction of model tests were: Dummy model environment for experimental test.

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Three algorithms were designed to perform each task, they are: Copyright All right reserved. No Part of the contents of this guide maybe transmitted or reproduced in any form or by any means without the written permission of the manufacturer. Printed in Taiwan.

The revision date for this guide is DEC 10th, Version 1. Prohibition of This device must not be co-located or operating in conjunction with any other antenna or transmitter.

Object Location in Closed Environments for Robots Using an Iconographic Base

These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications.

However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can Ansel 11Mbps Wireless LAN PC CARD determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures: The manufacturer is not responsible for any radio or television interference caused by unauthorized modification of this device, or the substitution of the connecting cables and equipment other than manufacturer specified.

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