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Proceedings Paper

Landmark design and real-time landmark tracking for mobile robot localization
Author(s): Kuk-Jin Yoon; In-So Kweon
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Paper Abstract

For the fast and accurate self-localization of mobile robots, landmarks can be used very efficiently in the complex workspace. In this paper, we propose a simple color landmark model for self-localization and a fast landmark detection and tracking algorithm based on the proposed landmark model. We develop a color landmark with a symmetric and repetitive structure, which shows invariant color histogram characteristics under some geometric distortions. Detection and tracking of the model are accomplished by a factored sampling technique in which color similarity is estimated by the color histogram intersection. We also use the color similarity to update the color histogram model of the landmark model for robust tracking under illumination change. We demonstrate the feasibility of the proposed technique through experiments in cluttered indoor environments. Experimental results show that proposed landmark is enough to be used in cluttered environment and proposed detects and tracks the landmark in cluttered scene in near real-time robustly.

Paper Details

Date Published: 18 February 2002
PDF: 8 pages
Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); doi: 10.1117/12.457446
Show Author Affiliations
Kuk-Jin Yoon, Korea Advanced Institute of Science and Technology (South Korea)
In-So Kweon, Korea Advanced Institute of Science and Technology (South Korea)


Published in SPIE Proceedings Vol. 4573:
Mobile Robots XVI
Douglas W. Gage; Howie M. Choset, Editor(s)

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