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

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.