Localization for Indoor Service Robot Using Natural Landmark on the Ceiling
نویسنده
چکیده
In this paper, we present a localization of a mobile robot with localization modules which have two ceiling-view cameras in indoor environments. We propose two kinds of localization method. The one is the localization in the local space; we use the line feature and the corner feature between the ceiling and wall. The other is the localization in the large space; we use the natural features such as bulbs, structures on the ceiling. These methods are installed on the embedded module able to mount on the robot. The embedded module has two cameras to be able to localize in both the local space and the large spaces. The experiment is practiced in our indoor test-bed and a government office. The proposed method is proved by the experimental results. Keywords—Robot, Localization, Indoor, Ceiling vision, Local space, Large space, Complex space.
منابع مشابه
Localization for Indoor Service Robot Using Natural Landmark on the Ceiling
In this paper, we present a localization of a mobile robot with localization modules which have two ceiling-view cameras in indoor environments. We propose two kinds of localization method. The one is the localization in the local space; we use the line feature and the corner feature between the ceiling and wall. The other is the localization in the large space; we use the natural features such...
متن کاملMap-merging in Multi-robot Simultaneous Localization and Mapping Process Using Two Heterogeneous Ground Robots
In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
متن کاملLocalization of Robot with Ceiling-View Cameras in Indoor Environment
This paper presents a localization of a mobile robot with two ceiling-view cameras in indoor environments. We propose the localization algorithm using the line feature and the corner feature between the ceiling and wall when a robot is in the local space. Also, we present the localization algorithm using the natural features such as bulbs, structures on the ceiling when a robot is in the large ...
متن کاملIndoor Localization System based on Artificial Landmarks and Monocular Vision
This paper presents a visual localization approach that is suitable for domestic and industrial environments as it enables accurate, reliable and robust pose estimation. The mobile robot is equipped with a single camera which update sits pose whenever a landmark is available on the field of view. The innovation presented by this research focuses on the artificial landmark system which has the a...
متن کاملIndoor Map-Constrained Robot Localization Using Incidental Radio Observations
We are interested in equipping an indoor mobile robot with a robust localization algorithm. We assume that the robot is performing some task that requires it to continuously move, and localization needs to be incidentally achieved. A few other known efforts, e.g., a museum-guide robot, a service robot, or a soccer robot, have addressed similar indoor incidental localization and navigation probl...
متن کامل