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| Mobile Robot Localization Based on Motion Vision |
| ZHONG Zhi-guang, YI Jian-qiang, ZHAO Dong-bin, HONG Yi-ping |
| Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China |
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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.
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Received: 20 September 2003
Published: 15 July 2004
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