Real-Time Vision-Based Robot Localization

Sami Atiya, Gregory D. Hager

Research output: Contribution to journalArticlepeer-review

132 Scopus citations


This paper describes an algorithm for determining robot location from visual landmarks. This algorithm determines both the correspondence between observed landmarks (in this case vertical edges in the environment) and a stored map, and computes the location of the robot using 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 fast execution. The algorithm has been implemented and tested on a mobile robot system. In several hundred trials it has never failed, and computes location accurate to within a centimeter in less than 0.5 s.

Original languageEnglish (US)
Pages (from-to)785-800
Number of pages16
JournalIEEE Transactions on Robotics and Automation
Issue number6
StatePublished - Dec 1993
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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