Topological Mobile Robot Localization using Fast Vision Techniques

In this paper we present a system for topologically localizing a mobile robot using color histogram matching of omnidirectional images. The system is intended for use as a navigational tool for the Autonomous Vehicle for Exploration and Navigation of Urban Environments (AVENUE) mobile robot. Our method makes use of omnidirectional images which are acquired from the robot’s on-board camera. The method is fast and rotation invariant. Our tests have indicated that normalized color histograms are best for an outdoor environment while normalization is not required for indoor work. The system quickly narrows down the robot’s location to one or two regions within the much larger test environment. Using this regional localization information, other vision systems that we have developed can further localize the robot.