TY - GEN
T1 - A mobile robot self-localization approach based on unidirectional vision
AU - Wang, Ke
AU - Huo, Guanglei
AU - Zhao, Lijun
AU - Li, Ruifeng
AU - Wang, Wei
PY - 2012
Y1 - 2012
N2 - This paper presents a self-localization system for mobile robot in large-scale indoor environments. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hybrid metric-topological map. A nonlinear unidirectional camera model is developed to project the probabilistic map elements with uncertainty manipulation. Extended Information filters are deployed to estimate the robot pose. The proposed system can perform localization tasks on-the-fly, with the features of efficient map modeling and computational simplicity. Experimental results are provided to demonstrate the performance and effectiveness of the proposed techniques.
AB - This paper presents a self-localization system for mobile robot in large-scale indoor environments. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hybrid metric-topological map. A nonlinear unidirectional camera model is developed to project the probabilistic map elements with uncertainty manipulation. Extended Information filters are deployed to estimate the robot pose. The proposed system can perform localization tasks on-the-fly, with the features of efficient map modeling and computational simplicity. Experimental results are provided to demonstrate the performance and effectiveness of the proposed techniques.
KW - Hybrid metric-topological map
KW - Large-scale indoor environment
KW - Localization
KW - unidirectional vision
UR - https://www.scopus.com/pages/publications/84867590693
U2 - 10.1109/ICMA.2012.6285123
DO - 10.1109/ICMA.2012.6285123
M3 - 会议稿件
AN - SCOPUS:84867590693
SN - 9781467312776
T3 - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
SP - 1966
EP - 1971
BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Y2 - 5 August 2012 through 8 August 2012
ER -