Self-localization of mobile robots based on artificial landmarks and stereo vision

摘要

For the self-localization problem of the indoor mobile robots,a self-localization method of indoor mobile robots based on artificial landmarks and stereo vision is proposed.First,a landmark model is designed to give position information;second,color segmentation,invariance of cross-ratio and the self-adaptive window are used to detect the artificial landmark,so the position information is got;finally,in order to locate the mobile robot accurately,the binocular stereo vision is used by combining with the position information of artificial landmark.The experimental results show that the proposed landmark model has strong robustness to the light and the camera position,and the self-localization accuracy can meet the requirement of indoor mobile robot.