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The research presented introduces a new methodology to infer environment structure and robot localization by using a monocular machine vision system. The local field of view is constrained to the vicinity of the mobile robot in order to accomplish with robust navigation issues. The strategy proposed uses optical flow techniques and planar models to obtain qualitative 3D information and robot localization...
This paper presents a dead reckoning sensor system and a tracking algorithm for mobile robot localization which increases an accuracy of the estimating position at the uneven surface. A dead reckoning sensor system consists of a small, low-cost MEMS IMU and optical navigation sensor that used in laser mice. A tracking algorithm consists of multi-rate extended Kalman filter to fuse redundant and complementary...
To achieve autonomous mobile robot navigation, accurate localization technique is the fundamental issue that should be addressed. This paper presents mobile robot localization using infrared reflective artificial landmarks. In order to minimize the disturbance to the user and to provide the ease of installation, the passive landmarks are used. The landmarks are made of coated film which reflects the...
Localization is a fundamental problem for many kinds of mobile robots. Sensor systems of varying ability have been proposed and successfully used to solve the problem. This paper probes the lower limits of this range by describing three extremely simple robot models and addresses the active localization problem for each. The robot, whose configuration is composed of its position and orientation, moves...
This paper describes a new approach to align the laser scans in order to build a consistent map of the environment of a mobile robot. There are no physical landmarks and the environment is completely unknown. Our method finds the nearest matching lines in the scans and resolves the data correspondence problem. The global consistency and final map is achieved by the formulation of geometrical constraints...
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