Extended Monte Carlo algorithm to collaborate distributed sensors for mobile robot localization

This paper presents a probabilistic algorithm to collaborate distributed sensors for mobile robot localization. During robot localization given a known environment model, Monte Carlo method is extended to integrate the detection information coming from environmental sensors to localize robot as long as the sensors do detect the robot. Meanwhile, we present an implementation that uses color environmental cameras for robot detection. All the parameters of each environmental camera are unknown in advance and can be calibrated by robot. Once cameras´ calibrated, their detection models can be trained using sensor data according to their parameters. As a result, the robot´s belief can reduce its uncertainty in response to the detection effectively. A further experiment, obtained with the real robot in an indoor office environment, illustrates that drastic improvement in localization speed and accuracy when compared to conventional robot localization.