Mobile robot localization based on fixation vision geometric constraint

Xiao Li; Hongyue Zhang

doi:10.1117/12.521399

2 September 2003 Mobile robot localization based on fixation vision geometric constraint

Xiao Li, Hongyue Zhang

Proceedings Volume 5253, Fifth International Symposium on Instrumentation and Control Technology; (2003) https://doi.org/10.1117/12.521399
Event: Fifth International Symposium on Instrumentation and Control Technology, 2003, Beijing, China

Abstract

This paper presents a feasible algorithm for mobile robot localization. Localization system is composed of an encoder, an electronical compass, a fixation vision system including a CCD camera and a stepping motor. Multisensor information fusion technology, extended information filter, is adopted for estimating the position and heading of robot. New measurement equation which is based on fixation vision geometric constraint is proposed in this paper. The coordinates of the landmark is not needed to know in this method, in other words, any point in the observed scene can be selected as a landmark. The results of simulation show the algorithm validity. The comparative results show this algorithm has advantage in autonomous mobile robot localization application than Dead-Reckoning.

Citation Download Citation

Xiao Li and Hongyue Zhang "Mobile robot localization based on fixation vision geometric constraint", Proc. SPIE 5253, Fifth International Symposium on Instrumentation and Control Technology, (2 September 2003); https://doi.org/10.1117/12.521399

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