Localization of Mobile Robot Based on Least Square Method

Abstract:

Localization is the basis for navigation of mobile robots. This paper focuses on key techniques of localization for mobile robots based on vision. Firstly, the specific measures and steps of the algorithm are analyzed and researched in depth. In the study, SIFT algorithm combined with epipolar geometry constraint is used on the environment feature point detection, matching and tracking. And the method of RANSAC combined with the least squares is used to obtain accurate results of the motion estimation. Then the necessary experiments are carried out to verify the correctness and effectiveness of algorithms. The experimental results verified the accuracy of the improved algorithm.

• Periodical: Applied Mechanics and Materials (Volumes 347-350)
• Pages: 808-811
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.347-350.808
• Online since: August 2013
• Authors: Jia Lu Li, Lin Bing Long, Bao Feng Zhang
• Keywords: Least Square (LS), Motion Estimation, RANSAC, SIFT

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