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http://dx.doi.org/10.7746/jkros.2020.15.4.357

A Study on Position Estimation of Movable Marker for Localization and Environment Visualization  

Yang, Kyon-Mo (KIRO)
Gwak, Dong-Gi (KIRO)
Han, Jong-Boo (KRISO)
Hahm, Jehun (KIRO)
Seo, Kap-Ho (KIRO, POSTECH)
Publication Information
The Journal of Korea Robotics Society / v.15, no.4, 2020 , pp. 357-364 More about this Journal
Abstract
Indoor localization using an artificial marker plays a key role for a robot to be used in a service environment. A number of researchers have predefined the positions of markers and attached them to the positions in order to reduce the error of the localization method. However, it is practically impossible to attach a marker to the predetermined position accurately. In order to visualize the position of an object in the environment based on the marker attached to them, it is necessary to consider a change of marker's position or the addition of a marker because of moving the existed object or adding a new object. In this paper, we studied the method to estimate the artificial marker's global position for the visualization of environment. The system calculates the relative distance from a reference marker to others repeatedly to estimate the marker's position. When the marker's position is changed or new markers are added, our system can recognize the changed situation of the markers. To verify the proposed system, we attached 12 markers at regular intervals on the ceiling and compared the estimation result of the proposed method and the actual distance. In addition, we compared the estimation result when changing the position of an existing marker or adding a new marker.
Keywords
Artificial Marker; Indoor Localization; Position Estimation; Environment Visualization;
Citations & Related Records
Times Cited By KSCI : 6  (Citation Analysis)
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