Landmark design and real-time landmark tracking for mobile robot localization

Kuk-Jin Yoon; In-So Kweon

doi:10.1117/12.457446

18 February 2002 Landmark design and real-time landmark tracking for mobile robot localization

Kuk-Jin Yoon, In-So Kweon

Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457446
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

For the fast and accurate self-localization of mobile robots, landmarks can be used very efficiently in the complex workspace. In this paper, we propose a simple color landmark model for self-localization and a fast landmark detection and tracking algorithm based on the proposed landmark model. We develop a color landmark with a symmetric and repetitive structure, which shows invariant color histogram characteristics under some geometric distortions. Detection and tracking of the model are accomplished by a factored sampling technique in which color similarity is estimated by the color histogram intersection. We also use the color similarity to update the color histogram model of the landmark model for robust tracking under illumination change. We demonstrate the feasibility of the proposed technique through experiments in cluttered indoor environments. Experimental results show that proposed landmark is enough to be used in cluttered environment and proposed detects and tracks the landmark in cluttered scene in near real-time robustly.

Citation Download Citation

Kuk-Jin Yoon and In-So Kweon "Landmark design and real-time landmark tracking for mobile robot localization", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); https://doi.org/10.1117/12.457446

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