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Precise Localization for Mobile Robot Based on Cell-coded Landmarks on the Ceiling  

Chen, Hongxin (Division of Electronics and Information Engineering, Chonbuk National University)
Wang, Shi (Division of Electronics and Information Engineering, Chonbuk National University)
Yang, Chang-Ju (Division of Electronics and Information Engineering, Chonbuk National University)
Lee, Jun-Ho (Department of Mechatronics Engineering, Chonbuk National University)
Kim, Hyong-Suk (Division of Electronics and Information Engineering, Chonbuk National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea CI / v.46, no.2, 2009 , pp. 75-83 More about this Journal
Abstract
This paper presents a new mobile robot localization method for indoor robot navigation. The method uses color-coded landmarks on the ceiling and a camera is installed on the robot facing the ceiling. The proposed "cell-coded map", with the use of only nine different kinds of color-coded landmarks distributed in a particular way, helps reduce the complexity of the landmark structure. This technique is applicable for navigation in an unlimited size of indoor space. The structure of the landmarks and the recognition method are introduced. And 2 rigid rules are also used to ensure the correctness of the recognition. Experimental results prove that the method is useful.
Keywords
mobile robot navigation; localization system; color image processing; landmark;
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