Mobile robot position assessment in the room with the use of on-board vision system

Abstract

The contemporary method of visual navigation of a mobile robot is presented. The visual navigation is an effective way to increase an accuracy of estimation for a current position of a mobile robot and its displacement. Using different specific features of a ceiling image along with photogrammetry theory permits to get a relative estimate for a current position of the mobile robot and its displacement in a room. Conventional approaches are ineffective because of presence of movable and immovable objects on the recognition scene. The ceiling image as the recognition scene is used in the proposed method. The recognition scene of ceiling is a stable and reliable image in the problem of finding reference points. Moreover there are no image distortions on the scene. All the mentioned above is a significant benefit of the proposed approach in terms of accuracy characteristics of the method of visual navigation of the mobile robot in the room.