Autonomous Position Estimation of a Mobile Node Based on Landmark and Localization Sensor

摘要

This study proposes an efficient position estimation method for localizing a mobile node in indoor environment. Although several conventional methods have been successfully applied for position estimation, they have some drawbacks such as low extendibility in an indoor space, intensive computation, and estimation errors. We propose a precise estimation approach based on a localization sensor and artificial landmarks. In our approach, a mobile node autonomously measures the location of landmarks attached to the ceiling with a localization sensor while moving across the landmarks and building a landmark map. And then, the node estimates its location under the ceiling using the map. In this process, we use a landmark histogram and a Kalman filter to reduce estimation errors. Several experiments performed using a mobile robot successfully demonstrated the feasibility of our proposed approach.