Estimation of Mobile Robot Pose from Optical Mouses

  • Lenka Mudrová
  • Jan Faigl
  • Jaroslav Halgašík
  • Tomáš Krajník
Part of the Communications in Computer and Information Science book series (CCIS, volume 156)


This paper describes a simple method of dead-reckoning based on off-the-shelf components: optical mouses and a laptop. The problem is formulated as finding a transformation of mouses positions to position of the robot. The formulation of the transformation is based on a method already used in range-based localization. Beside a solution of the transformation, the paper provides description of practical application of mouse based localization for a home made robot. The paper considers identification and mouse data reading procedures as well. The presented approach has been evaluated in several real experiments and the proposed localization provides competitive results to the odometry based on high-precision stepper motors.


Mobile Robot Robot Movement Iterative Close Point Iterative Close Point Robot Position 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Evolution Robotics - ER1 Personal Robot System,
  2. 2.
    Hu, J.S., Chang, Y.J., Hsu, Y.L.: Calibration and Data Integration of Multiple Optical Flow Sensors for Mobile Robot Localization. In: IEEE International Conference on Sensor Networks, Ubiquitous and Trustworthy Computing, SUTC 2008, pp. 464–469 (2008)Google Scholar
  3. 3.
    Lee, S.: Mobile robot localization using optical mice. In: IEEE Conference on Robotics, Automation and Mechatronics, vol. 2, pp. 1192–1197 (December 2004)Google Scholar
  4. 4.
    Lee, S., Song, J.B.: Mobile robot localization using optical flow sensors. International Journal of Control, Automation, and Systems 2(4), 485–493 (2004)Google Scholar
  5. 5.
    Lu, F., Milios, E.: Robot pose estimation in unknown environments by matching 2d range scans. Journal of Intelligent and Robotic Systems 18, 249–275 (1994)CrossRefGoogle Scholar
  6. 6.
    Palacin, J., Valgaon, I., Pernia, R.: The optical mouse for indoor mobile robot odometry measurement. Sensors and Actuators A: Physical 126(1), 141–147 (2006)CrossRefGoogle Scholar
  7. 7.
    The Player Project - Free Software tools for robot and sensor applications,
  8. 8.
    Sekimori, D., Miyazaki, F.: Self-localization for indoor mobile robots based on optical mouse sensor values and simple global camera information. In: IEEE International Conference on Robotics and Biomimetics (ROBIO 2005), pp. 605–610 (2005)Google Scholar
  9. 9.
    Sekimori, D., Miyazaki, F.: Precise dead-reckoning for mobile robots using multiple optical mouse sensors. In: Informatics in Control, Automation and Robotics II, pp. 145–151 (2007)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Lenka Mudrová
    • 1
  • Jan Faigl
    • 1
  • Jaroslav Halgašík
    • 1
  • Tomáš Krajník
    • 1
  1. 1.The Gerstner Laboratory for Intelligent Decision Making and Control, Department of Cybernetics, Faculty of Electrical EngineeringCzech Technical University in PragueCzech Republic

Personalised recommendations