Landmark-Based Localization for Indoor Mobile Robots with Stereo Vision

摘要

This article presented a localization algorithm of indoor mobile robot based on landmark. In order to navigate swiftly, one kind of landmark is designed, which is apt to recognize, convenient to extend. Because of noise error, the position of mobile robot calculated by single landmark is imprecise, so a method for localization of mobile robots was proposed by multiple landmarks. A mobile robot measures directions of landmarks while moving. Target landmarks are changed depending on the situation of the robot. The robot estimates its position by the directions of the landmarks and its moving distance. Experimental results show that the proposed landmark model is effective and achieved accurate localization.