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Proceedings Paper

Novel approach for mobile robot localization using monocular vision
Author(s): Zhiguang Zhong; Jianqiang Yi; Dongbin Zhao; Yiping Hong
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Paper Abstract

This paper presents a novel approach for mobile robot localization using monocular vision. The proposed approach locates a robot relative to the target to which the robot moves. Two points are selected from the target as two feature points. Once the coordinates in an image of the two feature points are detected, the position and motion direction of the robot can be determined according to the detected coordinates. Unlike those reported geometry pose estimation or landmarks matching methods, this approach requires neither artificial landmarks nor an accurate map of indoor environment. It needs less computation and can simplify greatly the localization problem. The validity and flexibility of the proposed approach is demonstrated by experiments performed on real images. The results show that this new approach is not only simple and flexible but also has high localization precision.

Paper Details

Date Published: 25 September 2003
PDF: 4 pages
Proc. SPIE 5286, Third International Symposium on Multispectral Image Processing and Pattern Recognition, (25 September 2003); doi: 10.1117/12.538855
Show Author Affiliations
Zhiguang Zhong, Institute of Automation, CAS (China)
Jianqiang Yi, Institute of Automation, CAS (China)
Dongbin Zhao, Institute of Automation, CAS (China)
Yiping Hong, Institute of Automation, CAS (China)


Published in SPIE Proceedings Vol. 5286:
Third International Symposium on Multispectral Image Processing and Pattern Recognition
Hanqing Lu; Tianxu Zhang, Editor(s)

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