Indoor Localization System based on Artificial Landmarks and Monocular Vision
Abstract: This paper presents a visual localization
approach that is suitable for domestic and industrial environments as it
enables accurate, reliable and robust pose estimation. The mobile robot is
equipped with a single camera which update sits pose whenever a landmark is
available on the field of view. The innovation presented by this research
focuses on the artificial landmark system which has the ability to detect the
presence of the robot, since both entities communicate with each other using an
infrared signal protocol modulated in frequency. Besides this communication
capability, each landmark has several high intensity light-emitting diodes
(LEDs) that shine only for some instances according to the communication, which
makes it possible for the camera shutter and the blinking of the LEDs to synchronize.
This synchronization increases the system tolerance concerning changes in
brightness in the ambient lights over time, independently of the landmarks
location. Therefore, the environment’s ceiling is populated with several
landmarks and an Extended Kalman Filter is used to combine the dead-reckoning
and landmark information. This increases the flexibility of the system by
reducing the number of landmarks required. The experimental evaluation was
conducted in a real indoor environment with an autonomous wheelchair prototype.
Author: Andry Maykol G. Pinto,
A. Paulo Moreira, Paulo G. Costa
Journal Code: jptkomputergg120090
Artikel Terkait :
Jp Teknik Komputer gg 2012
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