DocumentCode :
2490921
Title :
Simple visual self-localization for indoor mobile robots using single video camera
Author :
Dao, Nguyen Xuan ; You, Bum-Jae ; Oh, Sang-Rok ; Choi, Young Jin
Author_Institution :
Intelligent Robotics Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea
Volume :
4
fYear :
2004
fDate :
28 Sept.-2 Oct. 2004
Firstpage :
3767
Abstract :
In this paper, we present a simple method for visual localization of indoor mobile robots based on a natural landmark model. Only two natural lines and an intersection point are used for localization to take the advantage of fast detection. To track the landmark model, Lucas-Kanade optical flow algorithm is applied by using gradient descent. Then, by adopting reasonable assumption for indoor environments, a quick localization method for mobile robots from correspondent landmark is proposed in a linear technique. Experimental results that demonstrate the robustness of the method with respect to image illumination and noises are also presented. The performance in indoor environments shows the feasibility of the proposed localization algorithm in real-time.
Keywords :
gradient methods; image sequences; mobile robots; path planning; robot vision; video cameras; Lucas-Kanade optical flow algorithm; image illumination; indoor mobile robots; single video camera; visual self-localization; Electronic mail; Fingerprint recognition; Indoor environments; Intelligent robots; Mobile robots; Nonlinear equations; Robot vision systems; Smart cameras; Transmission line matrix methods; Working environment noise;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
Type :
conf
DOI :
10.1109/IROS.2004.1390001
Filename :
1390001
Link To Document :
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