Mobile robot localization using laser range scanner and omni-camera

M. Olszewski, B. Siemiątkowska, R. Chojecki, P. Marcinkiewicz, P. Trojanek, M. Majchrowski

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)


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 mobilen robot ELEKTRON R1 in a real office environment.
Original languageUndefined/Unknown
Title of host publicationCISM Courses and Lectures - 16th CISM--IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy'06
EditorsT.~Zielińska , C.~Zieliński
Place of PublicationWien, New York
Number of pages8
Publication statusPublished - 1 Jun 2006

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