Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Indoor Positioning System Based on Camera Sensor Network for Mobile Robot Localization in Indoor Environments

실내 환경에서의 이동로봇의 위치추정을 위한 카메라 센서 네트워크 기반의 실내 위치 확인 시스템

  • Ji, Yonghoon (Department of Precision Engineering, The University of Tokyo) ;
  • Yamashita, Atsushi (Department of Precision Engineering, The University of Tokyo) ;
  • Asama, Hajime (Department of Precision Engineering, The University of Tokyo)
  • 지용훈 (도쿄대학 정밀공학전공) ;
  • ;
  • Received : 2016.04.18
  • Accepted : 2016.10.05
  • Published : 2016.11.01
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Abstract

This paper proposes a novel indoor positioning system (IPS) that uses a calibrated camera sensor network and dense 3D map information. The proposed IPS information is obtained by generating a bird's-eye image from multiple camera images; thus, our proposed IPS can provide accurate position information when objects (e.g., the mobile robot or pedestrians) are detected from multiple camera views. We evaluate the proposed IPS in a real environment with moving objects in a wireless camera sensor network. The results demonstrate that the proposed IPS can provide accurate position information for moving objects. This can improve the localization performance for mobile robot operation.

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References

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