A Robust Localization Method for Mobile Robots Based on Ceiling Landmarks

  • Authors:

  • Viet Thang Nguyen;Moon Seok Jeong;Sung Mahn Ahn;Seung Bin Moon;Sung Wook Baik

  • Affiliations:

  • College of Electronics and Information Engineering, Sejong University, Seoul 143-747, Korea;College of Electronics and Information Engineering, Sejong University, Seoul 143-747, Korea;College of Business Administration, Kookmin University, Seoul 136-702, Korea;College of Electronics and Information Engineering, Sejong University, Seoul 143-747, Korea;College of Electronics and Information Engineering, Sejong University, Seoul 143-747, Korea

  • Venue:
  • MDAI '07 Proceedings of the 4th international conference on Modeling Decisions for Artificial Intelligence
  • Year:
  • 2007

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Abstract

In this paper, we propose a robust method for the process of localization of a mobile robotthrough a vision system. The mobile robot is a compact system consisting of an embedded board and a fish-eye camera. The fish-eye camera looks upward to capture ceiling images. The camera provides a sequence of images for the process of detection and tracking ceiling features. These features are used like natural landmarks to detect the state of translation and rotation of the robot. Our method requires less computational power and resources for a robot, and thus can be used at home. The results produced in this study showed the advantages of our method in terms of both speed and accuracy.