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In this paper, we propose a new localization system using ceiling outlines. We acquire the entire ceiling image by using a fisheye lens camera, and extract the lines by binarization and segmentation. The optical flow algorithm is then applied to identify the ceiling region from the segmented regions. Finally, we obtain the position and orientation of a robot via the center position and the momentum...
This paper proposes a localization system for indoor mobile robots. The localization system includes a camera and artificial landmarks for global positioning, and encoders and gyro sensors for local positioning. The Kalman filter is applied to take into account the stochastic errors of all sensors. Also, we develop a dead reckoning system to estimate the global position when the robot moves into blind...
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