scholarly journals Accurate 3-D Position and Orientation Method for Indoor Mobile Robot Navigation Based on Photoelectric Scanning

2015 ◽  
Vol 64 (9) ◽  
pp. 2518-2529 ◽  
Author(s):  
Zhe Huang ◽  
Jigui Zhu ◽  
Linghui Yang ◽  
Bin Xue ◽  
Jun Wu ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Indoor Mobile Robot ◽  
Orientation Method ◽  
Position And Orientation

Novel indoor mobile robot navigation using monocular vision

2008 ◽  
Vol 21 (3) ◽  
pp. 485-497 ◽  
Author(s):  
Mao-Hai Li ◽  
Bing-Rong Hong ◽  
Ze-Su Cai ◽  
Song-Hao Piao ◽  
Qing-Cheng Huang
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Monocular Vision ◽  
Mobile Robot Navigation ◽  
Indoor Mobile Robot

scholarly journals Localization System for Indoor Mobile Robot Using Large Square-Shaped Reflective Marker

2021 ◽  
Vol 15 (2) ◽  
pp. 182-190
Author(s):  
Hiroaki Seki ◽  
Ken Kawai ◽  
Masatoshi Hikizu ◽  
◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robot Navigation ◽  
Prototype System ◽  
Localization System ◽  
Indoor Mobile Robot ◽  
Four Corners ◽  
Fisheye Camera ◽  
Position And Orientation ◽  
Marker Detection ◽  
Measurable Range

A localization system using reflective markers and a fisheye camera with blinking infrared lights is useful and safe for mobile robot navigation in an environment with coexisting humans and robots; however, it has the problems of low robustness and a small measurable range for marker detection. A large, square-shaped reflective marker, with solid and dotted edges, is proposed for more reliable localization of indoor mobile robots. It can be easily detected using Hough transform and is robust for occlusion. The coordinates of the four corners of the square-shaped marker determine the robot’s localization. Infrared lighting with a new LED arrangement is designed for a wide measurable range via brightness simulation, including the effect of observation and reflection angles. A prototype system was developed, enabling the 2D position and orientation to be detected with an accuracy of 60 mm and 3◦, respectively, within a 4 m2 area.

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