Localization for indoor service robot by using local-features of image

摘要

In recent years, the delivery service robots are expected in general environment with human being. Especially, self-localization is required for such kind of service robots to perform task effectively. In previous work, many researches have developed the robot localization scheme using many kinds of sensors. However, in many cases, these scheme increase the cost of the system. How to lower the cost of the robot system is the main topic in order to servicerobots are widely used in the real world. In this research, we propose the robust method of self-localization for mobile robot using cheap USB camera to recognize the landmark in the environment. The proposed method uses SURF that is the robust method to recognize landmark, then positions the mobile robot based on the results of SURF.