A single camera 360-degree real time vision-based localization method with application to mobile robot trajectory tracking

A method is proposed for real-time vision-based localization in the 360 degrees area around a three-dimensional (3D) reference object with a single camera. The problem is split into three subproblems. First, 360 degrees 3D object recognition is proposed, in which a computer vision solution can recognize a reference object from all possible 360 degrees locations. Second, 360 degrees pose estimation is presented, in which the pose of a robot at all locations is estimated. Third, a 360 degrees localization application is integrated with a closed-loop real-time trajectory tracking controller. The successful results of simulations and real experiments of trajectory tracking are also presented.