Image-Based Absolute Positioning System for Mobile Robot Navigation

Abstract

Abstract. Position estimation is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of a mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall or objects of the environment as natural landmarks. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the absolute position of the mobile robot by using a fixed camera on the ceiling in the corridor is proposed. And also, the proposed method can improve the success rate for position estimation, since it calculates the real size of an object. This is not a relative localization scheme which reduces the position error through algorithms with noisy sensor data, but a kind of absolute localization. The effectiveness of the proposed localization scheme is demonstrated through the experiments.

Localization of Autonomous Robot in an Urban Area Based on SURF Feature Extraction of Images

“…This method works for SCARA (Selective Compliance Assembly Robot Arm or Selective Compliance Articulated Robot Arm) robot manipulator. Another localization method was proposed by Yun, Lyu, and Lee (2006) which utilize the external monitoring camera information for the indoor environment. Two methods for simultaneous localization and mapping for both outdoor and indoor environments were described by Berrabah and Bedkowski (2008).…”

“…(Wu, 2016). In the aforementioned research works, some (Magee & Aggarwal, 1995;Burgard et al, 1997;Yun et al, 2006;Huang et al, 2012;Shwe & Win, 2017) are only for indoor purposes and applicable in a structured environment. The method of (Yun, Lyu, & Lee, 2006) needs the help of an external camera like CCTV.…”

“…In the aforementioned research works, some (Magee & Aggarwal, 1995;Burgard et al, 1997;Yun et al, 2006;Huang et al, 2012;Shwe & Win, 2017) are only for indoor purposes and applicable in a structured environment. The method of (Yun, Lyu, & Lee, 2006) needs the help of an external camera like CCTV. Another method (Han et al, 2000) guides a SCARA robot manipulator to reach the desired location without knowing or identifying its current position which is actually the movement of arm only.…”

Guidance of a mobile robot using an array of static cameras located in the environment

“…In (Morioka et al 2006;Lilienthal and Duckett 2003) and (Yun et al 2004), a set of color landmarks are used for robot localization. In (Hoff et al 1996) and (Naimark and Foxlin 2002), a contrast template is used for tracking.…”