INHA: Localization of Mobile Robots Based on Feature Matching with a Single Camera

Author

Jaehong Lee ; Xuenan Cui ; Seungjun Lee ; Hakil Kim ; Hyoungrae Kim

Author_Institution

Sch. of Inf. & Commun. Eng., Inha Univ., Incheon, South Korea

fYear

2013

fDate

13-16 Oct. 2013

Firstpage

2765

Lastpage

2770

Abstract

Challenging problems about mobile robot localization still exist in real-world environments such as lobby or hall. In this paper, a localization method termed INHA (Intuitive Natural landmark-based Homography estimation Algorithm) is proposed. The proposed method is based on a feature matching scheme which only requires a single camera. The feature points are extracted using Oriented FAST and Rotated BRIEF (ORB) and matched by the RANSAC algorithm. The 3D position of the camera is estimated by an EPnP method. The experimental results showed an average distance error of 1% and driving tests confirmed that the proposed method can be applied in lobby or hall environments.

Keywords

cameras; feature extraction; image matching; mobile robots; pose estimation; random processes; robot vision; 3D position estimation; EPnP method; INHA; ORB; RANSAC algorithm; average distance error; feature matching scheme; feature points extraction; hall environments; intuitive natural landmark-based homography estimation algorithm; lobby environments; mobile robot localization; oriented FAST; real-world environments; rotated BRIEF; single camera; Cameras; Databases; Estimation; Feature extraction; Mobile robots; Robot vision systems; homography estimation; localization; mobile robot; natural landmark; single camera;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on

Conference_Location

Manchester

Type

conf

DOI

10.1109/SMC.2013.472

Filename

6722225