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ICRA
2002
IEEE

Color Landmark Based Self-Localization for Indoor Mobile Robots

9 years 6 months ago
Color Landmark Based Self-Localization for Indoor Mobile Robots
We present a simple artificial landmark model and a robust tracking algorithm for the navigation of indoor mobile robots. The landmark model is designed to have a three-dimensional structure consisting of a multicolored planar pattern. A stochastic algorithm based on Condensation [1] tracks the landmark model robustly using the color distribution of the pattern . A new selflocalization algorithm computes the location of robot with the tracked single landmark . Experimental results show that the proposed landmark model is effective. Through extensive navigation experiments in a cluttered indoor environment, we demonstrate the feasibility of the single view based self-localization in real-time.
Gi-jeong Jang, Sungho Kim, Wang-Heon Lee, In-So Kw
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Gi-jeong Jang, Sungho Kim, Wang-Heon Lee, In-So Kweon
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