Abstract
This article presents a self-localization scheme for indoor mobile robot navigation based on reliable design and recognition of artificial visual landmarks. Each landmark is patterned with a set of concentric circular rings in black and white, which reliably encodes the landmark’s identity under environmental illumination. A mobile robot in navigation uses an onboard camera to capture landmarks in the environment. The landmarks in an image are detected and identified using a bilayer recognition algorithm: A global recognition process initially extracts candidate landmark regions across the whole image and tries to identify enough landmarks; if necessary, a local recognition process locally enhances those unidentified regions of interest influenced by illumination and incompleteness and reidentifies them. The recognized landmarks are used to estimate the position and orientation of the onboard camera in the environment, based on the geometric relationship between the image and environmental frames. The experiments carried out in a real indoor environment show high robustness of the proposed landmark design and recognition scheme to the illumination condition, which leads to reliable and accurate mobile robot localization.
Highlights
This article presents an onboard localization scheme for autonomous mobile robots working in indoor environments, based on reliable design and recognition of artificial visual landmarks, targeting to device a convenient and economic while reliable and accurate localization technique to support indoor applications of autonomous mobile robots
The results show a very high reliability of landmark recognition
The proposed binary ring-code landmark design and bilayer landmark recognition process are robust to environmental illumination conditions and substantial landmark incompleteness in images
Summary
This article presents an onboard localization scheme for autonomous mobile robots working in indoor environments, based on reliable design and recognition of artificial visual landmarks, targeting to device a convenient and economic while reliable and accurate localization technique to support indoor applications of autonomous mobile robots. Self-localization is a fundamental problem in autonomous mobile robotics.[1] Many off-the-shelf mobile platforms have the built-in capability of relative selflocalization, that is, a mobile robot can estimate its own position and orientation incrementally based on the feedback of onboard sensors such as encoders, gyros, and accelerometers. Absolute self-localization techniques for mobile robots have received a lot of attention, where a mobile robot refers to beacons or landmarks in the environment to estimate its position and orientation without error accumulation.
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