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Localization of a Mobile Robot Using Ceiling Image with Identical Features
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 Title & Authors
Localization of a Mobile Robot Using Ceiling Image with Identical Features
Noh, Sung Woo; Ko, Nak Yong; Kuc, Tae Yong;
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 Abstract
This paper reports a localization method of a mobile robot using ceiling image. The ceiling has landmarks which are not distinguishablefrom one another. The location of every landmark in a map is given a priori while correspondence is not given between a detected landmark and a landmark in the map. Only the initial pose of the robot relative to the landmarks is given. The method uses particle filter approach for localization. Along with estimating robot pose, the method also associates a landmark in the map to a landmark detected from the ceiling image. The method is tested in an indoor environment which has circular landmarks on the ceiling. The test verifies the feasibility of the method in an environment where range data to walls or to beacons are not available or severely corrupted with noise. This method is useful for localization in a warehouse where measurement by Laser range finder and range data to beacons of RF or ultrasonic signal have large uncertainty.
 Keywords
Mobile Robot;Pose Estimation;Ceiling Image;Undistinguishbale Landmarks;Particle Filter;Correspondence;
 Language
Korean
 Cited by
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