Global Localization of Mobile Robots Using Omni-directional Images

전방위 영상을 이용한 이동 로봇의 전역 위치 인식

  • 한우섭 (삼성전자 생산기술연구소) ;
  • 민승기 (삼성전자 생산기술연구소) ;
  • 노경식 (삼성전자 생산기술연구소) ;
  • 윤석준 (삼성전자 생산기술연구소)
  • Published : 2007.04.01


This paper presents a global localization method using circular correlation of an omni-directional image. The localization of a mobile robot, especially in indoor conditions, is a key component in the development of useful service robots. Though stereo vision is widely used for localization, its performance is limited due to computational complexity and its narrow view angle. To compensate for these shortcomings, we utilize a single omni-directional camera which can capture instantaneous $360^{\circ}$ panoramic images around a robot. Nodes around a robot are extracted by the correlation coefficients of CHL (Circular Horizontal Line) between the landmark and the current captured image. After finding possible near nodes, the robot moves to the nearest node based on the correlation values and the positions of these nodes. To accelerate computation, correlation values are calculated based on Fast Fourier Transforms. Experimental results and performance in a real home environment have shown the feasibility of the method.


Global Localization;Omni-Directional Image;Mobile Robot


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