Position estimation and navigation control of mobile robot using mono vision

단일 카메라를 이용한 이동 로봇의 위치 추정과 주행 제어

  • 이기철 (연세대학교 전자공학과) ;
  • 이성렬 (연세대학교 전자공학과) ;
  • 박민용 (연세대학교 전자공학과) ;
  • 김현태 (현대전자 전장사업부 에어백 제어 개발팀) ;
  • 고재원 (유한대학 제어계측과)
  • Published : 1999.07.01


This paper suggests a new image analysis method and indoor navigation control algorithm of mobile robots using a mono vision system. In order to reduce the positional uncertainty which is generated as the robot travels around the workspace, we propose a new visual landmark recognition algorithm with 2-D graph world model which describes the workspace as only a rough plane figure. The suggested algorithm is implemented to our mobile robot and experimented in a real corridor using extended Kalman filter. The validity and performance of the proposed algorithm was verified by showing that the trajectory deviation error was maintained under 0.075m and the position estimation error was sustained under 0.05m in the resultant trajectory of the navigation.


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