Monocular Vision Based Localization System using Hybrid Features from Ceiling Images for Robot Navigation in an Indoor Environment

Jungwon Kang; Seok Won Bang; Christopher G. Atkeson; Youngjin Hong; Jinho Suh; Jungwoo Lee; Myung Jin Chung

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자료유형: 학술저널

저자정보: Jungwon Kang (KAIST) Seok Won Bang (CMU) Christopher G. Atkeson (Carnegie Mellon University) Youngjin Hong (Pohang Institute of Intelligent Robotics) Jinho Suh (Pohang Institute of Intelligent Robotics) Jungwoo Lee (Pohang Institute of Intelligent Robotics) Myung Jin Chung (KAIST)

저널정보: 한국로봇학회(논문지) 로봇학회 논문지 로봇공학회 논문지 제6권 제3호

발행연도: 2011.9

수록면: 197 - 209 (13page)

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This paper presents a localization system using ceiling images in a large indoor environment. For a system with low cost and complexity, we propose a single camera based system that utilizes ceiling images acquired from a camera installed to point upwards. For reliable operation, we propose a method using hybrid features which include natural landmarks in a natural scene and artificial landmarks observable in an infrared ray domain. Compared with previous works utilizing only infrared based features, our method reduces the required number of artificial features as we exploit both natural and artificial features. In addition, compared with previous works using only natural scene, our method has an advantage in the convergence speed and robustness as an observation of an artificial feature provides a crucial clue for robot pose estimation. In an experiment with challenging situations in a real environment, our method was performed impressively in terms of the robustness and accuracy. To our knowledge, our method is the first ceiling vision based localization method using features from both visible and infrared rays domains. Our system can be easily utilized with a variety of service robot applications in a large indoor environment.

#Pose Estimation #Localization #Ceiling Vision

참고문헌 (21)

참고문헌 신청

1. [학술대회논문] - R. Sim / 2005 / Vision-based SLAM using the Rao-Blackwellised Particle Filter / IJCAI Workshop on Reasoning with Uncertainty in Robotics

2. [학술대회논문] - A. J. Davison / 2003 / Real-Time Simultaneous Localisation and Mapping with a Single Camera / International Conference on Computer Vision (ICCV)} : 1403 ~ 1410

3. [학술대회논문] - P. Jensfelt / 2006 / A Framework for Vision based Bearing Only 3D SLAM / IEEE International Conference on Robotics and Automation : 1944 ~ 1950

4. [학술대회논문] - W. Y. Jeong / 2005 / CV-SLAM: A new Ceiling Vision-based SLAM technique / IEEE/ RSJ International Conference on Intelligent Robots and Systems(IROS) : 3195 ~ 3200

5. [단행본] - W. Y. Jeong / 2006 / Visual SLAM with Line nd Corner Features / IROS