Title :
Self-localization of mobile robot with single camera in corridor environment
Author :
Kim, Myong Ho ; Lee, Sang Cheol ; Lee, Kwae Hi
Author_Institution :
Dept. of Electron. Eng., Sogang Univ., Seoul, South Korea
Abstract :
This paper presents a single vision-based self-localization method in an corridor environment. The authors use the Hough transform for finding parallel lines and vertical lines. Relative distance from mobile robot to the cross points is calculated by using the cross points as feature points. Mapping an environment map to the feature points is performed by self-localization in a searching window. Experimental results show the efficiency of the proposed method in a corridor environment
Keywords :
CCD image sensors; Hough transforms; control system synthesis; mobile robots; position control; robot vision; robust control; Hough transform; corridor environment; cross points; environment map; feature points; parallel lines; relative distance; searching window; single vision-based mobile robot self-localisation; vertical lines; Cameras; Computer vision; Feature extraction; Humans; Image analysis; Image edge detection; Image processing; Machine vision; Mobile robots; Robot vision systems;
Conference_Titel :
Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on
Conference_Location :
Pusan
Print_ISBN :
0-7803-7090-2
DOI :
10.1109/ISIE.2001.931949
