Indoor localization by using stereoscopic vision, odometry, and the Kalman Filter

In order to obtain the location of two robotic platforms within a controlled environment in terms of color and brightness, an algorithm based on Kalman Filter has been developed. This algorithm considers the platform´s odometry as the process and stereoscopic vision as the external observer. The tracking is implemented through stereoscopic vision and color object detection. Finally, the algorithm was tested by using Robotino^® platforms from Festo, showing a good performance even with the loss of the observer.