Localization for indoor service Robot by using local-features of image


In recent years, the delivery support robots are expected in coexisting environment with human being. Self-localization of mobile robot is necessary in order for robot to perform task autonomously. Many researches about robot localization have been done using many kinds of sensors, thus increased the cost of the system. How to lower the cost of the robot system is the main topic in order to promote robot applications from a practical point of view. In this research, we propose the robust method of self-localization for mobile robot using cheap USB camera to recognize the landmark in the environment. The proposed method uses SURF that is the robust method to recognize landmark, then positions the mobile robot based on the results of SURF.

2009 JSME Conference on Robotics and Mechatronics (ROBOMEC2009)