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.
|Title of host publication||CISM Courses and Lectures - 16th CISM--IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy'06|
|Editors||T.~Zielińska , C.~Zieliński|
|Place of Publication||Wien, New York|
|Number of pages||8|
|Publication status||Published - 1 Jun 2006|
Olszewski, M., Siemiątkowska, B., Chojecki, R., Marcinkiewicz, P., Trojanek, P., & Majchrowski, M. (2006). Mobile robot localization using laser range scanner and omni-camera. In T. Z., & C. Z. (Eds.), CISM Courses and Lectures - 16th CISM--IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy'06 (pp. 229-236). Springer.