Indoor Localization System using Omnidirectional Route Panoramic Information of Static Landmarks
Date Issued
2010
Date
2010
Author(s)
Liu, Pei-Yi
Abstract
Localization is an important issue in the robotic field generally. Robots localize themselves by their inner or outer sensor data. A common sensor is visual system, like cameras. In order to acquire the environment information completely, the omnidirectional camera is the best choice as the visual sensor for robot self-localization.
A vision-based localization method with a single visual sensor is proposed in the thesis. Robots can localize themselves by a serious of omnidirectional images, and the only required is the distance between the landmarks.
First, the landmark direction relative to robots has to be obtained from the omnidirectional images. The direction information will be the input of localization method. Therefore, the continuous omnidirectional images are transformed into panoramic images. And then a composition image called omnidirectional route panoramic map image are composed by the sampled data of panoramic images. Robots can successfully self-localize by the variation of directions of three landmarks at different positions.
The correct simulation results of different moving routes are demonstrated. The experimental results show that the case of larger rotation angle and longer translation has higher accuracy. In contrast, the case of smaller rotation angle and shorter translation has lower accuracy. The latter result is gravely affected than the former one by the fact that the camera center is not at the rotation center of mobile robot.
With the limited initial conditions, namely, the distances between landmarks, the localization method proposed in the thesis by using only the omnidirectional camera.
Subjects
omnidirectional camera
vision localization system
omnidirectional route panoramic
landmark tracking
Type
thesis
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