Active single landmark based global localization of autonomous mobile robots

Authors:
Abdul Bais;Robert Sablatnig;Jason Gu;Stefan Mahlknecht
Affiliations:
Institute of Computer Technology, Vienna University of Technology, Vienna, Austria;Pattern Recognition and Image Processing Group, Institute of Computer Aided Automation, Vienna University of Technology, Vienna, Austria;Robotics Research Laboratory, Department of Electrical and Computer Engineering, Dalhousie University, Halifax, Canada;Institute of Computer Technology, Vienna University of Technology, Vienna, Austria
Venue:
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part I
Year:
2006

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Abstract

This paper presents landmark based global self-localization of autonomous mobile robots in a known but highly dynamic environment. The algorithm is based on range estimation to naturally occurring distinct features as it is not possible to modify the environment with special navigational aids. These features are sparse in our application domain and are frequently occluded by other robots. To enable the robot to estimate its absolute position with respect to a single landmark it is equipped with dead-reckoning sensors in addition to the stereo vision system mounted on a rotating head. The pivoted stereo vision system of the robot enables it to measure range and use bi/trilateration based methods as they require fewer landmarks compared to angle based triangulation. Further reduction of landmarks is achieved when robot orientation is estimated independently. Simulation results are presented which illustrate the performance of our algorithm.