The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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An Indoor Localization of Mobile Robot through Sensor Data Fusion

센서융합을 이용한 모바일로봇 실내 위치인식 기법

  • Received : 2009.10.13
  • Accepted : 2009.11.13
  • Published : 2009.11.30
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Abstract

This paper proposes a low-complexity indoor localization method of mobile robot under the dynamic environment by fusing the landmark image information from an ordinary camera and the distance information from sensor nodes in an indoor environment, which is based on sensor network. Basically, the sensor network provides an effective method for the mobile robot to adapt to environmental changes and guides it across a geographical network area. To enhance the performance of localization, we used an ordinary CCD camera and the artificial landmarks, which are devised for self-localization. Experimental results show that the real-time localization of mobile robot can be achieved with robustness and accurateness using the proposed localization method.

Keywords

References

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