Abstract This paper presents a novel localization method based on motion vision. The proposed method selects two feature points from the target to which a mobile robot moves and determines the poses, relative to the target, of the robot before and after motion according to the image coordinates of the two points. A search algorithm is further presented to find more correctly the image coordinates of the feature points. Experimental results indicate that this method has high localization precision and good robustness.
Received: 20 September 2003
Published: 15 July 2004