Global Localization of Mobile Robot using an Omni-Directional Camera
نویسندگان
چکیده
In this paper, we propose a method for global localization using an omni-directional camera. A robot position and angle are estimated by correlation coefficient between topological node-map images and input images. Near-node has the largest correlation coefficient in topological map images. The calculated correlation coefficient makes the mixtures of Gaussians density map. The highest value of mixtures of Gaussians density map is the estimated robot position. The angle of the robot is estimated using KLT method between near-node image and input image. The experiment is practiced in the lobby at Bucheon RoboPark building. The proposed algorithm is proved by the experimental results.
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