Using Image-Based Panoramic Models for 2D Robot Localization

This paper presents a method for estimating the position of a mobile robot in an indoor environment. The proposed technique uses a model of the environment formed by two panoramic cylindrical images taken at different locations, and a planar image taken at the current position. The current position and orientation of the robot are then computed without any additional information. We assume that the robot is moving on a plane (floor plane), which is very common for indoor environments. Our method is attractive because it does not require an explicit 3D model of the environment, and the location of the camera is not restricted to positions very close to the cylindrical models. We will describe experimental results for both synthetic and real data to demonstrate the effectiveness of the proposed method.

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