Simple algorithm for robot localization by using mathematical correlation of image pixels with physical data

The Robot localization is an important problem in the field of machine vision. In this paper, we present an algorithm to find out the moving robot pose and its orientation in a work-shop indoor environment. The algorithm is tested and verified for a mobile robot with various shapes and sizes of objects in the work environment. Camera calibration and Image geometric transformation were performed prior to the application of the algorithm. A simple mathematical correlation was used to locate a robot on the work-shop floor. Image Pixel indexes were used in conjunction with physical data to successfully locates the robot on the ground plane.