Localization of Mobile Robot Based on Natural Landmarks on Ceiling

摘要：

In the offices decorated with blocks ceiling, the lines formed by the blocks on the ceiling can be used to estimate the pose of an indoor mobile robot with visual dead reckoning methods. The special objects on the ceiling, such as draught fans, smoke sensors and lights, can be served as landmarks to correct the pose of the mobile robot in order to eliminate the accumulated error introduced by a dead reckoning method. The line extraction algorithm based on Hough transform and RANSAC is discussed. The recognition approach of the natural landmarks on the ceiling is presented. Then PnP-based positioning method is employed to correct the pose of the mobile robot. Experimental results verify the effectiveness of the proposed methods.

关键词： Landmark recognition RANSAC Visual positioning Dead reckoning Mobile robot

作者: Liwei Han De Xu

作者单位: The Key Laboratory of Complex Systems and Intelligence Science Institute of Automation, Chinese Academy of Sciences Beijing 100190, China

会议类型: 国际会议

会议名称: 2008 Sino-European Workshop on Intelligent Robots and Systems(SEIROS08)(第一届中欧智能系统及机器人国际学术研讨会)

会议地点: 重庆

会议语种:英文

页码: 1-6

在线出版日期: 2008-12-11（万方平台首次上网日期，不代表论文的发表时间）