Estimation of Relative Self-Localization for Indoor Mobile Robot
نویسندگان
چکیده
In this paper, we propose a relative self-localization estimation algorithm based on relative locations and orientation changes of some image features. We show that the proposed algorithm is valuable through some simulation examples.
منابع مشابه
Map-merging in Multi-robot Simultaneous Localization and Mapping Process Using Two Heterogeneous Ground Robots
In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
متن کاملEstimation of Relative Self-Localization for Indoor Mobile Robot and Its Error Analysis
The self-localization for a mobile robot is very important at indoor environments. In this paper, we propose a relative self-localization estimation algorithm based on relative locations and orientation changes of image features. We also analyze errors caused by a variety of factors to estimate the relative self-localization of a mobile robot and discuss a few techniques to remove them. The pro...
متن کاملReduction of Odometry Error in a two Wheeled Differential Drive Robot (TECHNICAL NOTE)
Pose estimation is one of the vital issues in mobile robot navigation. Odometry data can be fused with absolute position measurements to provide better and more reliable pose estimation. This paper deals with the determination of better relative localization of a two wheeled differential drive robot by means of odometry by considering the influence of parameters namely weight, velocity, wheel p...
متن کاملA New Approach to Self-Localization for Mobile Robots Using Sensor Data Fusion
This paper proposes a new approach for calibration of dead reckoning process. Using the well-known UMBmark (University of Michigan Benchmark) is not sufficient for a desirable calibration of dead reckoning. Besides, existing calibration methods usually require explicit measurement of actual motion of the robot. Some recent methods use the smart encoder trailer or long range finder sensors such ...
متن کاملLocalization for Mobile Robot Using Sensor Fusion and Landmark
In this paper, we present the method of localization system that uses iGPS (indoor GPS) sensor and Omni-directional vision sensor in the environment involving land mark. The indoor GPS (iGPS) is a simple and cheap localization sensor in the indoor environment. However, the error range of iGPS is too wide to be used in a small size robot. This paper presents a more accurate method of localizatio...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2013