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http://dx.doi.org/10.3745/KIPSTB.2005.12B.4.387

Vision-Based Self-Localization of Autonomous Guided Vehicle Using Landmarks of Colored Pentagons  

Kim Youngsam (KIST 지능로봇 연구센터)
Park Eunjong (전북대학교 전자공학과)
Kim Joonchoel (서남대학교 전자공학과)
Lee Joonwhoan (전북대학교 전자공학과)
Publication Information
The KIPS Transactions:PartB / v.12B, no.4, 2005 , pp. 387-394 More about this Journal
Abstract
This paper describes an idea for determining self-localization using visual landmark. The critical geometric dimensions of a pentagon are used here to locate the relative position of the mobile robot with respect to the pattern. This method has the advantages of simplicity and flexibility. This pentagon is also provided nth a unique identification, using invariant features and colors that enable the system to find the absolute location of the patterns. This algorithm determines both the correspondence between observed landmarks and a stored sequence, computes the absolute location of the observer using those correspondences, and calculates relative position from a pentagon using its (ive vortices. The algorithm has been implemented and tested. In several trials it computes location accurate to within 5 centimeters in less than 0.3 second.
Keywords
Pentagon; Camera Calibration; Self-localization; AGV(Autonomous Guided Vehicle);
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