Vision-Based Mobile Robot Localization with Simple Artificial Landmarks

An Analysis of Navigation Algorithms for Smartphones Using J2ME

“…Approaches for mapping have been accomplished considering the extraction of natural features from the environment (see [12]) and through the identification of special artificial landmarks (see, e.g., [16] and [1]). …”

“…These rules detect the presence of a landmark in an image thus providing the corresponding landmark classification based on its color. E.g., for a green landmark, we used the rules presented in (1). R, G and B correspond to the red, green and blue color components of the RGB color space.…”

Planning Positioning Actions of a Mobile Robot Cooperating with Distributed Sensors

“…Landmark recognition leads to determination of the image-coordinates of its reference points (see [2] for the image processing details). Then, the vector P = [x 1 y 1 x 2 y 2 ] T of coordinates of the centres of left and right frame edges are calculated.…”

“…Thus, the uncertainty of X R is described by the covariance matrix C R , which is a result of uncertainty propagation from the C L matrix. Because the relation (3) is nonlinear, the matrix C R is computed from a first order approximation [2]. Fig.…”

“…A solution for limited environments such as warehouses or factories is to develop an external infrastructure [9] providing pose estimates to the robots. Operational characteristics of the on-board vision sensors can be also improved by deploying unobtrusive artificial landmarks in the environment [2].…”