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Real-Time Indoor Mobile Robot Localization Based on the Recognition of Omni-Directional Artificial Landmarks

[+] Author Affiliations
Xu Zhong, Hanyu Liu

State University of New York at Stony Brook, Stony Brook, NY

Yu Zhou

State University of New York Institute of Technology, Utica, NY

Paper No. DETC2014-35501, pp. V05AT08A099; 10 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


This paper proposes a real-time robust localization scheme for mobile robots in indoor environments, based on the recognition of omnidirectional artificial landmarks captured by a single onboard camera. Considering the need of omnidirectional recognition and the disturbance of lighting condition, we encode the landmark identity with nested circles in black and white. The recognition algorithm consists of a global and a local recognition layers. The global recognition is a fast overall recognition process, including light detection, image clustering, region of interest (ROI) extraction, and ROI identification. If the number of identified ROIs does not meet the requirement of the localization algorithm, the local recognition will process those unidentified ROIs through adaptive ROI expansion and template cutting. Based on the landmark recognition, the absolute position and orientation of the camera in the environment are estimated using the geometric mapping between the image and global frames. The proposed approach is tested via experiments in a real indoor environment, and the result reveals high localization robustness and consistency to the lighting condition.

Copyright © 2014 by ASME
Topics: Mobile robots



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