Self-localization of Indoor Mobile Robots Based on Artificial Landmarks and Binocular Stereo Vision

摘要：

For the self-localization problem of the indoor mobile robots, a self-localization method of indoor mobile robots based on artificial landmarks and binocular stereo vision was proposed in this paper. First, a color scalable artificial landmark model is designed to give position information of the environment. Second, using the color segmentation, invariance of cross-ratio and selfadaptive window to detect the landmark, so the position information could be got. Finally, the binocular stereo vision is used by combining with the position information of artificial landmark. The experimental results show that the proposed artificial landmark model is robust to the light and camera position, and the self-localization accuracy can meet the requirement of indoor mobile robot.

关键词： self-localization artificial landmarks stereo vision landmark recognition

作者: Zhenyu Liu Nan Jiang Lingtao Zhang

作者单位: Shenyang University of Technology, Shenyang, Liaoning, China Shenyang Institutes of Automation, Shenyang, Liaoning, China

会议类型: 国际会议

会议名称: 2009 International Workshop on Information Security and Application(2009 信息安全与应用国际研讨会)

会议地点: 青岛

会议语种:英文

页码: 338-341

在线出版日期: 2009-11-21（万方平台首次上网日期，不代表论文的发表时间）