Spatial Localization Method with Omnidirectional Vision

This paper deals with an absolute mobile robot selflocalization algorithm in an indoor environment. Until now, localization methods based on conical omnidirectional vision sensors uniquely used radial segments from vertical environment landmarks projection. The main motivation of this work is to demonstrate that the SYCLOP sensor can be used as a vision sensor rather than a goniometric one. The calibration allows us to know the omnidirectional image formation process. In this way, we can compute a synthetic image base. Then, we will present the spatial localization method using the base and one image. Finally, some experimental results obtained with real noisy omnidirectional images are shown.