Monocular vision-based global localization using position and orientation of ceiling features

Seo Yeon Hwang, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This study presents an upward-looking camera-based global localization scheme using the position and orientation of ceiling features. If the robot pose is unknown, the region-based ceiling features from the current image are matched to a pre-built feature map from the RBPF-based SLAM process. Then, the candidate areas of the real robot pose are set around the matched features. The candidates are represented by two spots for the features having both position and orientation, while by a circle if they have only position. Finally, the real robot pose is determined at the intersection point. The candidate areas are realistically modeled by applying the observation error, and useless candidates are significantly reduced by considering the feature orientation. Several experiments in real environments validated the effectiveness of the proposed global localization scheme.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages3785-3790
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 2013 May 62013 May 10

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period13/5/613/5/10

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Hwang, S. Y., & Song, J. B. (2013). Monocular vision-based global localization using position and orientation of ceiling features. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 3785-3790). [6631109] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6631109