Vol. 21, No. 1, pp. 45-60
In this paper, we propose a visual-based self-localization algorithm of an indoor mobile robot. The algorithm does
not require calibration and can be worked with only a single image by using the projective invariant relationship between
natural landmarks. The position of the robot is determined by relative positioning. Also, the method does not
require previous information of the position of the robot. The robustness and feasibility of our algorithm have been
demonstrated through experiments in hallway environments.
In this paper, we propose a visual-based self-localization algorithm of an indoor mobile robot. The algorithm does
not require calibration and can be worked with only a single image by using the projective invariant relationship between
natural landmarks. The position of the robot is determined by relative positioning. Also, the method does not
require previous information of the position of the robot. The robustness and feasibility of our algorithm have been
demonstrated through experiments in hallway environments.