Mobile robot localization using laser range scanner and omnicamera
In this paper a method of mobile robot localization in an unknown indoor environment is presented. The robot is equipped with a single omni-directional camera and a laser range finder. The data of the 2D scanner is used to detect walls in the robot environment. The images taken from omnicamera allow to detect texture on the walls. The robot’s position can easily be estimated by combining information taken from the camera and from the laser scanner and this data can be used to follow the robot’s path. The method has been tested with the use of mobile robot ELEKTRON Rl in a real office environment.
KeywordsMobile Robot Discrete Cosine Transform Laser Range Finder Vertex Point Canonical Signature
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