Self-localization of a Mobile Robot for Decreasing the Error and VRML Image Overlay

오차 감소를 위한 이동로봇 Self-Localization과 VRML 영상오버레이 기법

  • 권방현 (전북대학교 제어계측공학과) ;
  • 손은호 (전북대학교 제어계측공학과) ;
  • 김영철 (군산대학교 기계공학부) ;
  • 정길도 (전북대학교 전자정보공학부)
  • Published : 2006.04.01


Inaccurate localization exposes a robot to many dangerous conditions. It could make a robot be moved to wrong direction or damaged by collision with surrounding obstacles. There are numerous approaches to self-localization, and there are different modalities as well (vision, laser range finders, ultrasonic sonars). Since sensor information is generally uncertain and contains noise, there are many researches to reduce the noise. But, the correctness is limited because most researches are based on statistical approach. The goal of our research is to measure more exact robot location by matching between built VRML 3D model and real vision image. To determine the position of mobile robot, landmark-localization technique has been applied. Landmarks are any detectable structure in the physical environment. Some use vertical lines, others use specially designed markers, In this paper, specially designed markers are used as landmarks. Given known focal length and a single image of three landmarks it is possible to compute the angular separation between the lines of sight of the landmarks. The image-processing and neural network pattern matching techniques are employed to recognize landmarks placed in a robot working environment. After self-localization, the 2D scene of the vision is overlaid with the VRML scene.


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