A monocular vision based localizer

Publication Type:
Conference Proceeding
Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005, 2005
Issue Date:
Full metadata record
Utilization of low cost sensing is feasible in office like environments due to the regular man made structures. In this paper, we presented an algorithm, which exploits floor boundaries as a feature for robot localization. A colour based floor detection technique along with laser-like scan generation algorithm is proposed for feature extraction. Then an AMCL based localizer is used for robot localization. Experimental results in an office like environment shows the feasibility of the monocular vision based localization.
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