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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Localization of a Mobile Robot Using Multiple Ceiling Lights

여러 개의 조명등을 이용한 이동 로봇의 위치 추정

  • 한연주 (충북대학교 제어로봇공학과) ;
  • 박태형 (충북대학교 제어로봇공학과)
  • Received : 2013.01.05
  • Accepted : 2013.02.25
  • Published : 2013.04.01
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Abstract

We propose a new global positioning method for the indoor mobile robots. The multiple indoor lights fixed in ceiling are used as the landmarks of positioning system. The ceiling images are acquired by the fisheye lens camera mounted on the moving robot. The position and orientation of the lights are extracted by binarization and labeling techniques. Also the boundary lines between ceiling and walls are extracted to identify the order of each light. The robot position is then calculated from the extracted position and known position of the lights. The proposed system can increase the accuracy and reduce the computation time comparing with the other positioning methods using natural landmark. Experimental results are presented to show the performance of the method.

Keywords

References

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