Abstract
Localization is an important technology for smart services like autonomous surveillance, disinfection or delivery robots in future distributed indoor IoT applications. Visual-based localization (VBL) is a promising self-localization approach that identifies a robot’s location in an indoor or underground 3D space by using its camera to scan and match the robot’s surrounding objects and scenes. In this study, we present a pictorial planar surface based 3D object localization framework. We have designed two object detection methods for localization, ArPico and PicPose. ArPico detects and recognizes framed pictures by converting them into binary marker codes for matching with known codes in the library. It then uses the corner points on a picture’s border to identify the camera’s pose in the 3D space. PicPose detects the pictorial planar surface of an object in a camera view and produces the pose output by matching the feature points in the view with that in the original picture and producing the homography to map the object’s actual location in the 3D real world map. We have built an autonomous moving robot that can self-localize itself using its on-board camera and the PicPose technology. The experiment study shows that our localization methods are practical, have very good accuracy, and can be used for real time robot navigation.
Highlights
Device localization is an important technology for future distributed indoor IoT applications with autonomous moving devices, such as industrial robot, intelligent hotel assistant, and smart office courier
We have developed an algorithm to reduce the number of extracted feature points from a robot view before matching them to a pictorial object in the library
Two filters are designed to inspect the matching result produced by FLANN and can greatly reduce the number of useful matched feature point (FP) pairs before we use them in the homography calculation
Summary
Device localization is an important technology for future distributed indoor IoT applications with autonomous moving devices, such as industrial robot, intelligent hotel assistant, and smart office courier. Generation smart services must be location-based and self-location-aware. Smart movers in large warehouses can help workers collect customer orders from different shelves into one shipment package. Mobile hospitality assistants can lead customers in different corners of big hotels or shopping centers to specific locations or give directions. Autonomous moving couriers can be used in offices to deliver documents and supplies without human contacts. Many distributed devices can be deployed together to provide a coordinated smart service network
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