Novel approach for mobile robot localization using monocular vision

Zhiguang Zhong; Jianqiang Yi; Dongbin Zhao; Yiping Hong

doi:10.1117/12.538855

25 September 2003 Novel approach for mobile robot localization using monocular vision

Zhiguang Zhong, Jianqiang Yi, Dongbin Zhao, Yiping Hong

Proceedings Volume 5286, Third International Symposium on Multispectral Image Processing and Pattern Recognition; (2003) https://doi.org/10.1117/12.538855
Event: Third International Symposium on Multispectral Image Processing and Pattern Recognition, 2003, Beijing, China

Abstract

This paper presents a novel approach for mobile robot localization using monocular vision. The proposed approach locates a robot relative to the target to which the robot moves. Two points are selected from the target as two feature points. Once the coordinates in an image of the two feature points are detected, the position and motion direction of the robot can be determined according to the detected coordinates. Unlike those reported geometry pose estimation or landmarks matching methods, this approach requires neither artificial landmarks nor an accurate map of indoor environment. It needs less computation and can simplify greatly the localization problem. The validity and flexibility of the proposed approach is demonstrated by experiments performed on real images. The results show that this new approach is not only simple and flexible but also has high localization precision.

Citation Download Citation

Zhiguang Zhong, Jianqiang Yi, Dongbin Zhao, and Yiping Hong "Novel approach for mobile robot localization using monocular vision", Proc. SPIE 5286, Third International Symposium on Multispectral Image Processing and Pattern Recognition, (25 September 2003); https://doi.org/10.1117/12.538855

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