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MOBILE ROBOT LOCALIZATION BASED ON OMNICAMERA

2004-12-16 org.kosen.entty.User@30086c5a

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발행기관

Barbara Siemiatkowska, Rafai Chojecki

발행일

2004/07/05

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In this paper a method of mobile robot localization in an unknown indoor environment is presented. The robot is equipped with a single omni-directional camera. The images are transformed into polar representation. Based on the images and their polar coordinates, the natural landmarks of the environment are extracted. We recognize the following features of the environment - vertical and horizontal lines and areas of unique colour. By using images taken from the omni-camera wall plane landmarks are extracted. With a 360 degree view of the robot’s environment, the robot’s position can easily be estimated and this information can be used to follow its path. The method was tested with the use of mobile robot Navigator 1 in a real office environment

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