Robust self-localization of mobile robots using artificial and natural landmarks

被引：0
|
作者：
Jang, G [1 ]
Kim, S [1 ]
Lee, W [1 ]
Kweon, I [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Elect Engn & Comp Sci, Taejon 305701, South Korea
来源：
2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS | 2003年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a novel localization paradigm for mobile robots based on artificial and natural landmarks. A model-based object recognition method detects natural landmarks and conducts the global and topological localization. In addition, a metric localization method using artificial landmarks is fused to complement the deficiency of topology map and guide to action behavior The recognition algorithm uses a modified local Zernike moments and a probabilistic voting method for the robust detection of objects in cluttered indoor environments. An artificial landmark is designed to have a three-dimensional multi-colored structure and the projection distortion of the structure encodes the distance and viewing direction of the robot. We demonstrate the feasibility of the proposed system through real world experiments using a mobile robot, KASIRI-III.
引用
收藏
页码：412 / 417
页数：6
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