The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Localization of Mobile Robots by Full Detection of Ceiling Outlines

천장 외곽선 전체 검출에 의한 모바일 로봇의 위치 인식

  • Kim, Young-Gyu (Dept. of Control and Robot Engineering, Chungbuk National University) ;
  • Park, Tae-Hyoung (Dept. of Electronics Engineering, Chungbuk National University)
  • Received : 2016.03.01
  • Accepted : 2016.06.22
  • Published : 2016.07.01
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Abstract

In this paper, we propose a new localization system using ceiling outlines. We acquire the entire ceiling image by using fisheye lens camera, and extract the lines by binarization and segmentation. The optical flow algorithm is then applied to identify the ceiling region from the segmented regions. Finally we obtain the position and orientation of the robot by the center position and momentum of ceiling region. Since we use the fully detected outlines, the accuracy and reliability of the localization system is improved. The experimental result are finally presented to show the effectiveness of the proposed method.

Keywords

References

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