Self-localization of Indoor Mobile Robots Based on Artificial Landmarks and Binocular Stereo Vision

Abstract

Abstract—For the self-localization problem of the indoor mobile robots, a self-localization method of indoor mobile robots based on artificial landmarks and binocular stereo vision was proposed in this paper. First, a color scalable artificial landmark model is designed to give position information of the environment. Second, using the color segmentation, invariance of cross-ratio and self-adaptive window to detect the landmark, so the position information could be got. Finally, the binocular stereo vision is used by combining with the position information of artificial landmark. The experimental results show that the proposed artificial landmark model is robust to the light and camera position, and the self-localization accuracy can meet the requirement of indoor mobile robot. Index Terms—self-localization, artificial landmarks, stereo vision, landmark recognition.