The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Global Localization Based on Ceiling Image Map

천장 영상지도 기반의 전역 위치추정

  • Received : 2014.04.02
  • Accepted : 2014.06.02
  • Published : 2014.08.28
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Abstract

This paper proposes a novel upward-looking camera-based global localization using a ceiling image map. The ceiling images obtained through the SLAM process are integrated into the ceiling image map using a particle filter. Global localization is performed by matching the ceiling image map with the current ceiling image using SURF keypoint correspondences. The robot pose is then estimated by the coordinate transformation from the ceiling image map to the global coordinate system. A series of experiments show that the proposed method is robust in real environments.

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Acknowledgement

Supported by : MOTIE

References

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