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System Development & Application
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App. Res. of Comp. Printed Article
Vol. 38, 2021 No. 9
2741-2745

Man-made landmark based convenient indoor-robot global localization system

Liao Zhihan
Wu Feng
School of Computer Science & Technology, University of Science & Technology of China, Hefei 230000, China
DOI: 10.19734/j.issn.1001-3695.2021.01.0033

Abstract

Global localization algorithms for mobile robot still face many challenges when using in some indoor environments, where the layout changes frequently or there are many dynamic obstacles. Aiming at such scenarios, this paper proposed a new and convenient global localization system based on man-made landmark. The system localized based on multiple man-made landmarks attached on the unshaded ceiling, and could achieve stable pose estimation with only one camera. The whole system consisted of two main processes: map construction and global localization, according to their specific functions. During the map construction, it automatically estimated the pose of the man-made landmark in the global coordinate system, according to the camera's observation of the landmark and the pose estimation output by some laser SLAM algorithm. Given this, it then established the map of environment based on the pose of each landmark. During the global localization, it estimated the robot's pose in real time based on the camera's observation of the man-made landmarks in the map with known poses, combined with the pre-integrated information fused with the odometer and IMU. Sufficient experiments show that the localization error of the system is stable within 10 cm when running in the deployed environment, and the system can also ensure real-time pose output, which meets the application requirements of typical indoor mobile robot global localization.

Foundation Support

国家重点研发计划项目(2017YFB1002204)
国家自然科学基金资助项目(61603368)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.01.0033
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 9
Section: System Development & Application
Pages: 2741-2745
Serial Number: 1001-3695(2021)09-033-2741-05

Publish History

[2021-09-05] Printed Article

Cite This Article

廖志涵, 吴锋. 基于人工路标的易部署室内机器人全局定位系统 [J]. 计算机应用研究, 2021, 38 (9): 2741-2745. (Liao Zhihan, Wu Feng. Man-made landmark based convenient indoor-robot global localization system [J]. Application Research of Computers, 2021, 38 (9): 2741-2745. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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