Research for Vision-Based Mobile Robot Self-Localization Strategy
Mobile robots are a very dynamic part of the robotic domain, self-localization is one of the basic functions of them, in the complex environment, and whether to achieve precise localization is the key factor for mobile robot navigates accurately. In this paper, on the basis of the mobile robot can identify the set artificial landmark correctly through its vision sensors, then, based on the observe landmark and perspective localization method, the mobile robot’s position and moving direction can be calculated in the world coordinate system. Finally, a lot of experiments are carried out, the experimental results show that in the structural environment, this mobile robot can realize self-localization under this method perfectly, and the localization accuracy and sampling frequency meet the need of practical requirement.
G. H. Li et al., "Research for Vision-Based Mobile Robot Self-Localization Strategy", Applied Mechanics and Materials, Vols. 130-134, pp. 2153-2159, 2012