Self-localization and control of an omni-directional mobile robot based on an omni-directional camera

Kai-Tai Song*, Chao Wu Wang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

This paper presents a design of simultaneous localization and mapping (SLAM) for an omni-directional mobile robot using an omni-directional camera. A method is proposed to realize visual SLAM of the omni-directional mobile robot based on extended Kalman filter (EKF). Taking advantage of the 360° view of omni-directional images, visual reference scan approach is adopted in the SLAM design. Features of previously visited places can be used repeatedly to reduce the complexity of EKF calculation. Practical experiments of the proposed self-localization and control algorithms have been carried out by using a self-constructed omni-directional mobile robot. The localization error between the start point and target point is less than 0.15m and 1° after traveling more than 40 meters in an indoor environment.

Original languageEnglish
Title of host publicationProceedings of 2009 7th Asian Control Conference, ASCC 2009
Pages899-904
Number of pages6
StatePublished - 11 Dec 2009
Event2009 7th Asian Control Conference, ASCC 2009 - Hong Kong, China
Duration: 27 Aug 200929 Aug 2009

Publication series

NameProceedings of 2009 7th Asian Control Conference, ASCC 2009

Conference

Conference2009 7th Asian Control Conference, ASCC 2009
CountryChina
CityHong Kong
Period27/08/0929/08/09

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    Song, K-T., & Wang, C. W. (2009). Self-localization and control of an omni-directional mobile robot based on an omni-directional camera. In Proceedings of 2009 7th Asian Control Conference, ASCC 2009 (pp. 899-904). [5276265] (Proceedings of 2009 7th Asian Control Conference, ASCC 2009).