Self Location Of A Mobile Robot Using Visual Landmarks

This paper is concerned with the probleni of determining the position of the vehicle both in goal-oriented and free- path navigations. A vision system for self location of a mobile robot has been devel- oped. By means of few known landmarks, the system has the ability of continuously monitoring position and compare these es- timates with the measures provided by the odometers. Besides a procedure has been im- plemented that recovers the position of the vehicle when the other sensors completely fail.

[1]  Eric Krotkov,et al.  Mobile robot localization using a single image , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[2]  Alberto Elfes,et al.  Sonar-based real-world mapping and navigation , 1987, IEEE J. Robotics Autom..

[3]  Ingemar J. Cox,et al.  Autonomous Robot Vehicles , 1990, Springer New York.

[4]  Olivier D. Faugeras,et al.  Determination of Camera Location from 2-D to 3-D Line and Point Correspondences , 1990, IEEE Trans. Pattern Anal. Mach. Intell..

[5]  Álvaro Enrique Arenas,et al.  Position verification of a mobile robot using standard pattern , 1987, IEEE Journal on Robotics and Automation.

[6]  Dimitris P. Tsakiris,et al.  On the visual mathematics of tracking , 1991, Image Vis. Comput..

[7]  N. A. Duffie,et al.  On-line compensation of mobile robot docking errors , 1987, IEEE Journal on Robotics and Automation.

[8]  Luce Morin,et al.  Relative positioning from geometric invariants , 1991, Proceedings. 1991 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.