Localization of Robot with Ceiling-View Cameras in Indoor Environment

This paper presents a localization of a mobile robot with two ceiling-view cameras in indoor environments. We propose the localization algorithm using the line feature and the corner feature between the ceiling and wall when a robot is in the local space. Also, we present the localization algorithm using the natural features such as bulbs, structures on the ceiling when a robot is in the large space. These algorithms are installed on the embedded module able to mount on the robot. The embedded module has two cameras to be able to localize in both the local space and the large spaces. The experiment is practiced in our indoor test-bed and the proposed algorithm is proved by the experimental results. Keywords—Robot, Localization, Indoor, Ceiling vision, Local space, Large space, Embedded module.