A novel localization system based on infrared vision for outdoor mobile robot

Authors:
Jingchuan Wang;Weidong Chen
Affiliations:
Department of Automation, Shanghai Jiao Tong University, Shanghai, China;Department of Automation, Shanghai Jiao Tong University, Shanghai, China and State Key Laboratory of Robotics and System, HIT, Harbin, China
Venue:
LSMS/ICSEE'10 Proceedings of the 2010 international conference on Life system modeling and simulation and intelligent computing, and 2010 international conference on Intelligent computing for sustainable energy and environment: Part III
Year:
2010

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Abstract

An outdoor localization system for mobile robot based on infrared vision is presented. To deal with the changes of light conditions, an omnidirectional near infrared (NIR) vision system is developed. The extended Kalman filter (EKF) is used in localization, and to improve the accuracy and robustness of the system. Finally, the experiments demonstrate the system performance in an electrical substation.