Self-localization Algorithm for Mobile Robot Based on the Omnidirectional Sensor
In this paper, a simple but effective method for robot self-localization is presented. The spatial neighborhood constraint is incorporated into the preprocessing of the image segmentation. Then it uses a closed cycle with rectification and Hough detection to find the boundary and corners. Depending on the actual size of surrounding environment and the white lines and corners detected last step, the robot can maintain self-localization through two methods. One method uses the two lines, and the other method used triangulation. Finally, a weight value is set between the two methods to realize the self-localization.Actual image sequence from the robot is tested. The robot can be placed anywhere in the environment. The final self-localization results on very different images with significant light change and noise are promising.
robot Omni-directional self-localization
Tongwei Lu Hui Yan Dan Zhou
School of computer science and engineering, Wuhan Institute of Technology, Wuhan 430073, China Hubei School of computer science and engineering, Wuhan Institute of Technology, Wuhan 430073, China
国际会议
桂林
英文
1-6
2011-11-01（万方平台首次上网日期，不代表论文的发表时间）