Map-building and localization by three-dimensional local features for ubiquitous service robot

Authors:
Youngbin Park;Seungdo Jeong;Il Hong Suh;Byung-Uk Choi
Affiliations:
College of Information and Communications, Hanyang University, Seoul, Korea;Department of Electrical and Computer Engineering, Hanyang University, Seoul, Korea;College of Information and Communications, Hanyang University, Seoul, Korea;College of Information and Communications, Hanyang University, Seoul, Korea
Venue:
ICUCT'06 Proceedings of the 1st international conference on Ubiquitous convergence technology
Year:
2006

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Abstract

In this work, we propose a semantic-map building method and localization method for ubiquitous service robot. Our semantic-map is organized by using SIFT feature-based object representation. In addition to semantic map, a vision-based relative localization is employed as a process model of extended Kalman filters, where optical flows and Levenberg-Marquardt least square minimization are incorporated to predict relative robot locations. Thus, robust map-building performances can be obtained even under poor conditions in which localization cannot be achieved by classical odometry-based map-building. To localize robot position and solve kidnap problem, we also propose simple, but fast localization method with a relatively high accuracy by incorporating our semantic-map.