A visual localization method for mobile robot based on background subtraction and optical flow tracking

Author

Li, Shuai ; Zhou, Yajin ; Meng, Max Q H ; Liang, Huawei ; Li, Yangming ; You, Zhuhong ; Chen, Wanming ; Liu, Xiao ; Jiang, Kai ; Guo, Qinglei

fYear

2008

fDate

25-27 June 2008

Firstpage

3870

Lastpage

3874

Abstract

In this paper, a newly vision-based localization method for mobile robots is presented. The cost of hardware for this localization system is very low. Based on background subtraction and optical flow tracking, the presented method overcomes the shortcoming of general background subtracting method- being sensitive to noises and interferences of other mobile objects. Besides, the presented method is enough robust to find the new optical flow point after it is lost. Experiments reveal that this presented method is effective and is able to meet needs of localization for mobile robots.

Keywords

image sequences; mobile robots; path planning; robot vision; background subtraction; mobile robot; optical flow tracking; vision-based localization method; visual localization method; Boilers; Costs; Image motion analysis; Inspection; Intelligent control; Intelligent robots; Machine intelligence; Mobile robots; Optical sensors; Robotics and automation; background subtraction; localization; mobile robot; optical flow;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4594506

Filename

4594506