Mobile robot localization by multisensor fusion and scene matching

Yi Bing Yang; Hung Tat Tsui

doi:10.1117/12.256288

29 October 1996 Mobile robot localization by multisensor fusion and scene matching

Yi Bing Yang, Hung Tat Tsui

Proceedings Volume 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling; (1996) https://doi.org/10.1117/12.256288
Event: Photonics East '96, 1996, Boston, MA, United States

Abstract

This paper proposes a new localization method for indoor mobile robots. Using two cameras and one laser range finder on board a TRC mobile robot, the initial position and pose of the robot can be obtained by multisensor fusion and scene matching based on geometric hashing. No correspondence calculation and special pattern recognition are needed during the scene matching. This localization method can be implemented in five stages: 1) Model the indoor environment. Some selected indoor environment features are firstly modeled off-line into hashing tables. 2) Perform system calibration and information fusion from two cameras and the range finder. 3) Extract the vertical edge points corresponding to the horizontal scanning plane of the 2D laser range finder from the scene images and transform them into geometric invariants. 4) Perform scene matching and matching verification by geometric hashing and model back- projection method respectively. 5) Perform position and pose estimation by a least square fit method. Experimental results show that the accuracy and reliability of this localization method ar quite high.

Citation Download Citation

Yi Bing Yang and Hung Tat Tsui "Mobile robot localization by multisensor fusion and scene matching", Proc. SPIE 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling, (29 October 1996); https://doi.org/10.1117/12.256288

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