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http://dx.doi.org/10.5302/J.ICROS.2013.13.1863

Localization of a Mobile Robot Using Multiple Ceiling Lights  

Han, Yeon-Ju (Chungbuk National University)
Park, Tae-Hyoung (Chungbuk National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.4, 2013 , pp. 379-384 More about this Journal
Abstract
We propose a new global positioning method for the indoor mobile robots. The multiple indoor lights fixed in ceiling are used as the landmarks of positioning system. The ceiling images are acquired by the fisheye lens camera mounted on the moving robot. The position and orientation of the lights are extracted by binarization and labeling techniques. Also the boundary lines between ceiling and walls are extracted to identify the order of each light. The robot position is then calculated from the extracted position and known position of the lights. The proposed system can increase the accuracy and reduce the computation time comparing with the other positioning methods using natural landmark. Experimental results are presented to show the performance of the method.
Keywords
localization; mobile robot; ceiling lights; natural landmark;
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Times Cited By KSCI : 3  (Citation Analysis)
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