ArUco İşaretleyicileri Kullanarak Mobil Robotlar İçin Çoklu Kamera Tabanli İç Mekan Konum Tespiti ve Yol Optimizasyonu

Yıl 2025, Cilt: 12 Sayı: 3, 339 - 355, 30.09.2025

Abdulhamit Sevgi , H. Erdinç Koçer

Öz

Öz: GPS sinyallerinin bulunmadığı iç mekanlarda, mobil robot konumlarını belirlemek zordur. Yaygın yöntemler arasında SLAM, işaretleyici tabanlı yerelleştirme, eylemsiz ölçüm birimleri (IMU'lar) ve hibrit konumlandırma sistemleri (HPS) bulunur. SLAM eş zamanlı yerelleştirme ve haritalama sağlarken, işaretleyici tabanlı yerelleştirme konum tespiti için belirli işaretleyiciler kullanır. IMU'lar hareketi hız, ivme ve açısal hız yoluyla izler ve HPS, gelişmiş doğruluk için sensörleri birleştirir.

Bu çalışma, Cordoba Üniversitesi'nden ArUco işaretleyicileri kullanarak bir rota planlama ve hareket optimizasyon yöntemi geliştirmektedir. Görüntü işleme yoluyla tespit edilen bu işaretleyiciler, robotları hedeflere en kısa ve en güvenli yolları hesaplayarak yönlendirir. Birden fazla kamera hareket aralığını ve görüşü iyileştirirken, otomatik bir pan ayarlaması çakışmaları ve hizalama sorunlarını ele alarak sorunsuz görüntü entegrasyonunu sağlar. Önerilen yöntem, çok kameralı sistemlerin güvenilir iç mekan navigasyonu için potansiyelini göstererek endüstriyel ve hizmet alanlarında umut verici uygulamalar sunar.

Anahtar Kelimeler

Kapalı Alan Yer Belirleme , Mobil Robotlar , ArUco Markerları , Hareket Optimizasyonu , Çoklu Kamera Sistemleri.

Etik Beyan

Dear Sir, We sent our publication to a journal in Springer before your journal. Springer made a pre-screening on ResearchSquare due to its bilateral agreement with ResearchSquare at this stage. However, the journal rejected it and ResearchSquare does not remove the pre-screening. They gave us the following response regarding this issue: Dear Abdulhamit Sevgi, Thank you for contacting us about your Research Square preprint. Your preprint was posted because you selected the optional In Review service when you submitted your manuscript to a Springer Nature journal. Research Square preprints cannot be removed since they have been assigned a Digital Object Identifier (DOI) and have a permanent digital presence on the internet. We understand that you may have some concerns about posting your work on the Research Square Platform. Please be assured that you have many publication options while your preprint remains posted. Here are some facts about your preprint: Our preprints are published under a CC-BY 4.0 license, meaning the author retains full copyright of their work. DOIs issued by Research Square have a specific DOI structure for preprints. This allows them to be linked to the final published journal article. Preprints can be revised. A preprint is an author's early version of their manuscript. Therefore, publication of the final paper in a journal is not considered plagiarism or self-plagiarism. In the future, please consider the following before submitting your manuscript for publication: Ensure that the journal you are submitting to accepts manuscripts that have been previously been posted to a preprint server. These policies are typically located in the author guidelines. Provide the preprint DOI link in your cover letter. This will direct the journal to the existing preprint so they can exclude it from any similarity checks.

Multicamera-Based Indoor Localization and Path Optimization for Mobile Robots Using ArUco Markers

Öz

Abstract : In indoor environments where GPS signals are unavailable, determining mobile robot positions is challenging. Common methods include SLAM, marker-based localization, inertial measurement units (IMUs), and hybrid positioning systems (HPS). SLAM enables simultaneous localization and mapping, while marker-based localization uses specific markers for position detection. IMUs track motion via velocity, acceleration, and angular velocity, and HPS combines sensors for improved accuracy.

This study develops a route planning and motion optimization method using ArUco markers from the University of Córdoba. Detected via image processing, these markers guide robots by calculating the shortest and safest paths to targets. Multiple cameras enhance motion range and vision, while an automatic pan adjustment addresses overlaps and alignment issues, ensuring seamless image integration. The proposed method demonstrates the potential of multi-camera systems for reliable indoor navigation, offering promising applications in industrial and service domains.

Anahtar Kelimeler

Indoor Localization , Mobile Robots , ArUco Markers , Motion Optimization , Multi-Camera Systems.

Etik Beyan

Dear Sir, We sent our publication to a journal in Springer before your journal. Springer made a pre-screening on ResearchSquare due to its bilateral agreement with ResearchSquare at this stage. However, the journal rejected it and ResearchSquare does not remove the pre-screening. They gave us the following response regarding this issue: Dear Abdulhamit Sevgi, Thank you for contacting us about your Research Square preprint. Your preprint was posted because you selected the optional In Review service when you submitted your manuscript to a Springer Nature journal. Research Square preprints cannot be removed since they have been assigned a Digital Object Identifier (DOI) and have a permanent digital presence on the internet. We understand that you may have some concerns about posting your work on the Research Square Platform. Please be assured that you have many publication options while your preprint remains posted. Here are some facts about your preprint: Our preprints are published under a CC-BY 4.0 license, meaning the author retains full copyright of their work. DOIs issued by Research Square have a specific DOI structure for preprints. This allows them to be linked to the final published journal article. Preprints can be revised. A preprint is an author's early version of their manuscript. Therefore, publication of the final paper in a journal is not considered plagiarism or self-plagiarism. In the future, please consider the following before submitting your manuscript for publication: Ensure that the journal you are submitting to accepts manuscripts that have been previously been posted to a preprint server. These policies are typically located in the author guidelines. Provide the preprint DOI link in your cover letter. This will direct the journal to the existing preprint so they can exclude it from any similarity checks.

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