Dual-Circle Self-Localization Algorithm for Omnidirectional Vision Robots
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Date
2008-07-01
Authors
Chen-Chien Hsu
Ching-Chang Wong
Hung-Chih Teng
Journal Title
Journal ISSN
Volume Title
Publisher
Harbin Institute of Technology
Abstract
This paper proposes a new self-localization
algorithm, called dual-circle self-localization algorithm, for
use in omnidirectional vision robots. When an autonomous
robot navigates in the field, it senses the environment by an
omnidirectional vision device fitted on the robot. The
landmarks information is acquired by using image
processing and pattern recognition techniques. Robot
position on the field can be estimated with the proposed
method by using these landmarks information. Comparing
with other self-localization methods, the dual-circle
self-localization algorithm requires only three landmarks
information in the image for identifying the robot position,
which is very efficient for image processing. Practical
experiments on an autonomous robot have demonstrated
that the proposed algorithm can achieve a satisfactory
performance to locate the robot.