Indoor localization system based on artificial landmarks and monocular vision

• Type: Article in International Scientific Journal
• Date: 2012

Authors

Pinto, AMG (Author) Other; António Paulo Moreira (Author) FEUP; Paulo Gomes da Costa (Author) FEUP

Journal

Title: Telkomnika

Vol. 10 No. 4

Pages: 609-620

ISSN: 1693-6930

Publisher: Universitas Ahmad Dahlan

Indexing

Scopus - 2 Citations

Other information

Authenticus ID: P-008-DJ2

DOI: 10.12928/telkomnika.v10i4.640

Abstract (EN): This paper presents a visual localization approach that is suitable for domestic and industrial environments as it enables accurate, reliable and robust pose estimation. The mobile robot is equipped with a single camera which update sits pose whenever a landmark is available on the field of view. The innovation presented by this research focuses on the artificial landmark system which has the ability to detect the presence of the robot, since both entities communicate with each other using an infrared signal protocol modulated in frequency. Besides this communication capability, each landmark has several high intensity light-emitting diodes (LEDs) that shine only for some instances according to the communication, which makes it possible for the camera shutter and the blinking of the LEDs to synchronize. This synchronization increases the system tolerance concerning changes in brightness in the ambient lights over time, independently of the landmarks location. Therefore, the environment's ceiling is populated with several landmarks and an Extended Kalman Filter is used to combine the dead-reckoning and landmark information. This increases the flexibility of the system by reducing the number of landmarks required. The experimental evaluation was conducted in a real indoor environment with an autonomous wheelchair prototype.

Language: English

Type (Professor's evaluation): Scientific