Abstract
Odometry and dead reckoning techniques are valuable tools for indoor mobile robot navigation. However, these techniques alone are not enough to estimate the robot position because they introduce cumulative errors. Reliable robot positioning requires additional sensing schemes to periodically update the robot localization and to reset the unbounded growing of odometric uncertainty. In this paper a monocular vision system is proposed for that purpose: matching image lines with a projected CAD-3D map of the environment is used for mobile robot positioning. Additionally, three general techniques for pose estimation are investigated.
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