Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Localization for Mobile Robot Using Vertical Line Features

수직선 특징을 이용한 이동 로봇의 자기 위치 추정

  • 강창훈 (동명정보대학교 로봇시스템공학과) ;
  • 안현식 (동명정보대학교 로봇시스템공학과)
  • Published : 2003.11.01
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Abstract

We present a self-localization method for mobile robots using vertical line features of indoor environment. When a 2D map including feature points and color information is given, a mobile robot moves to the destination, and acquires images from the surroundings having vertical line edges by one camera. From the image, vertical line edges are detected, and pattern vectors meaning averaged color values of the left and right regions of the each line are computed by using the properties of the line and a region growing method. The pattern vectors are matched with the feature points of the map by comparing the color information and the geometrical relationship. From the perspective transformation and rigid transformation of the corresponded points, nonlinear equations are derived. Localization is carried out from solving the equations by using Newton's method. Experimental results show that the proposed method using mono view is simple and applicable to indoor environment.

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References

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