| Title |
Localization of Mobile Robots by Full Detection of Ceiling Outlines |
| Authors |
김영규(Kim, Young-Gyu) ; 박태형(Park, Tae-Hyoung) |
| DOI |
https://doi.org/10.5370/KIEE.2016.65.7.1283 |
| Keywords |
Localization ; Mobile robot ; Ceiling outline ; Optical flow ; Fisheye lens |
| Abstract |
In this paper, we propose a new localization system using ceiling outlines. We acquire the entire ceiling image by using fisheye lens camera, and extract the lines by binarization and segmentation. The optical flow algorithm is then applied to identify the ceiling region from the segmented regions. Finally we obtain the position and orientation of the robot by the center position and momentum of ceiling region. Since we use the fully detected outlines, the accuracy and reliability of the localization system is improved. The experimental result are finally presented to show the effectiveness of the proposed method. |