Mobile robot localization with sparse landmarks

Nathaniel J. Fairfield; Bruce A. Maxwell

doi:10.1117/12.457439

18 February 2002 Mobile robot localization with sparse landmarks

Nathaniel J. Fairfield, Bruce A. Maxwell

Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457439
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

This paper describes a mobile robot system designed to explore and map an indoor area such as is encountered in urban search and rescue mock-ups. The robot uses homogeneous artificial landmarks deployed during exploration for localization as it constructs a map, determining landmark distance and bearing with groundplane calculations from a single camera and using Kalman filtering techniques to perform localization. When implemented on a Magellan II mobile robot, the localization technique correctly localized the robot while exploring and mapping.

Citation Download Citation

Nathaniel J. Fairfield and Bruce A. Maxwell "Mobile robot localization with sparse landmarks", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); https://doi.org/10.1117/12.457439

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