Landmark Design for Indoor Localization of Mobile Robots

被引：0

作者：

Wang, Longhui ^{[1
,2
]}

Gao, Bingwei ^{[1
,2
]}

Jia, Yingmin ^{[1
,2
,3
]}

机构：

[1] Beihang Univ BUAA, Res Div 7, Beijing 100191, Peoples R China

[2] Beihang Univ BUAA, Dept Syst & Control, Beijing 100191, Peoples R China

[3] Beihang Univ BUAA, SMSS, Key Lab Math Informat & Behav Semant LMIB, Beijing 100191, Peoples R China

来源：

PROCEEDINGS OF 2013 CHINESE INTELLIGENT AUTOMATION CONFERENCE: INTELLIGENT AUTOMATION & INTELLIGENT TECHNOLOGY AND SYSTEMS | 2013年 / 255卷

关键词：

Landmarks; Mobile robots; Localization; Image processing; NAVIGATION;

D O I：

10.1007/978-3-642-38460-8_60

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 focuses on the landmark design for mobile robot localization in indoor environment. A design method with two types of landmarks, which are color landmarks and black landmarks, is proposed. Particularly, the color landmarks are elaborately encoded by four types of distinctive colors. All the landmarks are installed on the ceiling in a special way so that the mobile robot can uniquely localize itself by observing the ceiling landmarks. In addition, an image processing algorithm is presented to identify the landmarks, and a localization algorithm is proposed to calculate the position and orientation of the mobile robot using the information of the identified landmarks.

引用

页码：543 / 550

页数：8

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