A novel approach for localization of an indoor autonomous mobile surveillance robot

Abstract

Localization of an autonomous mobile robot has always been a topic of interest in Robotics community. The constraints of working under different environments are constantly a challenge in designing an efficient localization system. We propose a localization algorithm for a mobile robot, which will be used for home security. The objective is to perform indoor localization efficiently and keeping the cost as low as possible so as to make it commercializable. Here, we introduce an approach based on recognizing a pattern generated by laser pointers on the wall, which is captured by an infrared camera. The image of this pattern is used to locate the position of a robot in the room. The problem of working under black ceiling has been overcomed because the projection is on the wall and is moving which also increases the range of operation. As the pattern is unique, the interference of strong sunlight has also been fixed to some extent. Experimental results show that the proposed approach is effective in real environment and opens new doors for future research.