Abstract
This paper focuses on the landmark design for mobile robot localization in indoor environment. A design method with two types of landmarks, which are color landmarks and black landmarks, is proposed. Particularly, the color landmarks are elaborately encoded by four types of distinctive colors. All the landmarks are installed on the ceiling in a special way so that the mobile robot can uniquely localize itself by observing the ceiling landmarks. In addition, an image processing algorithm is presented to identify the landmarks, and a localization algorithm is proposed to calculate the position and orientation of the mobile robot using the information of the identified landmarks.
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Acknowledgments
This work was supported by the National Basic Research Program of China (973 Program, 2012CB821200, 2012CB821201) and the NSFC (61134005, 60921001, 90916024, 91116016).
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© 2013 Springer-Verlag Berlin Heidelberg
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Wang, L., Gao, B., Jia, Y. (2013). Landmark Design for Indoor Localization of Mobile Robots. In: Sun, Z., Deng, Z. (eds) Proceedings of 2013 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 255. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38460-8_60
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DOI: https://doi.org/10.1007/978-3-642-38460-8_60
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