A hybrid approach towards vision based self-localization of autonomous mobile robots

Abdul Bais, Robert Sablatnig, Yahya M. Khawaja, Ghulam M. Hassan

Research output: Chapter in Book/Conference paperConference paper

5 Citations (Scopus)

Abstract

This paper presents a hybrid approach towards self-localization of tiny autonomous mobile robots in a known but highly dynamic environment. The proposed algorithm is intended for two-wheeled differential drive robots which are equipped with a pivoted stereo vision system, two digital encoders, a gyro sensor, two 10g accelerometers and a magnetic compass. The global position of the robot can be estimated by extracting two distinct landmarks from the robot environment and measuring their range and orientation using the stereo vision system. However, distinct landmarks are not available through the entire state space and it is required to track the robot position once a global estimate is available. Tracking of the globally estimated position is performed within the framework of extended Kalman filter. Constant monitoring of the robot observation enables it to detect any unexpected situation. Simulation results show that robot can successfully localize itself at startup and is capable of detecting and recovering from localization failures.

Original languageEnglish
Title of host publicationProceedings - International Conference on Machine Vision, ICMV 2007
Pages1-6
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2007
Externally publishedYes
EventInternational Conference on Machine Vision, ICMV 2007 - Islamabad, Pakistan
Duration: 28 Dec 200729 Dec 2007

Conference

ConferenceInternational Conference on Machine Vision, ICMV 2007
CountryPakistan
CityIslamabad
Period28/12/0729/12/07

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