Real-Time Localization of Mobile Robots in Indoor Environments Using a Ceiling Camera Structure

摘要

The localization of mobile robots in indoor environments finds lots of problems such as accumulated errors and the constant changes that occur at these places. A technique called global vision intends to localize robots using images acquired by cameras placed in such a way that covers the place where the robots movement takes place. Localization is obtained by marks put on top of the robot. This work proposes a mobile robot localization system at indoor environments using a technique called global vision to estimate the position of a robot in real time. Since the method relies only on information extracted from the current image, accurate position estimates can be calculated.