Real-time vision-based robot localization

Sami Aitya, Greg Hager

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

Abstract

An algorithm for robot localization using visual landmarks is described. This algorithm determines both the correspondence between observed landmarks (in this case vertical edges in the environment) and a preloaded map, and the location of the robot from those correspondences. The primary advantages of this algorithm are its use of a single geometric tolerance to describe observation error, its ability to recognize ambiguous sets of correspondences, its ability to compute bounds on the error in localization, and its fast execution. The current version of the algorithm has been implemented and tested on a mobile robot system. In several hundred trials the algorithm has not failed, and computes location accurate to within a centimeter in less than half a second.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages639-644
Number of pages6
ISBN (Print)081862163X
StatePublished - Jan 1 1991
Externally publishedYes
EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
Duration: Apr 9 1991Apr 11 1991

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1

Other

OtherProceedings of the 1991 IEEE International Conference on Robotics and Automation
CitySacramento, CA, USA
Period4/9/914/11/91

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ASJC Scopus subject areas

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

Cite this

Aitya, S., & Hager, G. (1991). Real-time vision-based robot localization. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 639-644). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Publ by IEEE.