We present a simple artificial landmark model and a robust landmark tracking algorithm for mobile robot localization. The landmark model, consisting of symmetric and repetitive color patches, produces color histograms that are invariant under the geometric and photometric distortions. A stochastic approach based on the CONDENSATION tracks the landmark model robustly even under the varying illumination conditions. After the landmark detection, relative position of the mobile robot to the landmark is calculated. Experimental results show that the proposed landmark model is effective and can be detected and tracked in a cluttered scene robustly. With the tracked single landmark, we extracted geometrical information then achieved accurate localization.
|저 자||Kukjin Yoon, Gijeong Jang, Sungho Kim, In So Kweon|
|학 회||Journal of Automation and System Engineering|