Self Location Of A Mobile Robot Using Visual Landmarks

Abstract

This paper is concerned with the probleni of determining the position of the vehicle both in goal-oriented and free- path navigations. A vision system for self location of a mobile robot has been devel- oped. By means of few known landmarks, the system has the ability of continuously monitoring position and compare these es- timates with the measures provided by the odometers. Besides a procedure has been im- plemented that recovers the position of the vehicle when the other sensors completely fail.