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Exploring Different Localization Technologies

Exploring Different Localization Technologies. Lucy Huh Master’s Electrical and Computer Engineering. Outline. Technologies Explored: Visual Localization Sound Localization Passive Infrared (PIR) Sensors IR Remote Control Technology Chosen: IR Remote Control IRMan. Visual Localization.

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Exploring Different Localization Technologies

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  1. Exploring Different Localization Technologies Lucy Huh Master’s Electrical and Computer Engineering

  2. Outline • Technologies Explored: • Visual Localization • Sound Localization • Passive Infrared (PIR) Sensors • IR Remote Control • Technology Chosen: • IR Remote Control • IRMan

  3. Visual Localization • Robot will head toward the user who is distinguished by bright clothing. • However, • Cannot expect elders to dress differently • Cameras are expensive

  4. Sound Localization • Robot will head toward the user using microphones as “ears”. • Pros: • All-directional • Microphone receives sound energy from all directions. Therefore, no line-of-sight problem. • Audition requires no illumination, enabling a robot to work in darkness or low light. • Audition is not effected by obstacles. • However, difficult to implement in given amount of time with limited experience in Robotics.

  5. Passive Infrared (PIR) Sensors • PIR Sensors are passive: • They detect radiation but do not emit it. • They are maximally sensitive to objects that emit heat energy at the wavelength emitted by humans. • Robot “sees” infrared heat energy emitted by people. • Triggering occurs when a change in infrared levels are detected. • When a warm object moves in or out of view of one of the sensor’s “eyes”

  6. PIR Sensors (continued..) • Cons: • Strictly line-of-sight devices • Cannot “see” around corners or see a person if there’s an obstruction. • Robot will not be able to distinguish between two users in the same room.

  7. Technology Chosen : IR Remote Control • Using an IR Remote control and the CARMEN Robot Navigation Software Toolkit for mobile robot control. • IR Remote Control done using commercial device, IRMan.

  8. IRMan • IRMan can received infrared signals by all sorts of remotes. • Receiver can reach up to 10m and has a 80 degree angle of sight. • On the back there is a cable that connects to a serial port on the PC. • Does not require any external power.

  9. Software for IRMan • Wrote software to parse the serial data from the IRMan and figure out which button on the remote was pressed. • This software was integrated to the wheelchair. • Specifically, it was integrated to the CARMEN navigation software toolkit for mobile robot control.

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