Dual-circle self-localization algorithm for omnidirectional vision robots

Chen Chien Hsu*, Ching Chang Wong, Hung Chih Teng

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This paper proposes a new self-localization algorithm, called dual-circle self-localization algorithm, for use in omnidirectional vision robots. When an autonomous robot navigates in the field, it senses the environment by an omnidirectional vision device fitted on the robot. The landmarks information is acquired by using image processing and pattern recognition techniques. Robot position on the field can be estimated with the proposed method by using these landmarks information. Comparing with other self-localization methods, the dual-circle self-localization algorithm requires only three landmarks information in the image for identifying the robot position, which is very efficient for image processing. Practical experiments on an autonomous robot have demonstrated that the proposed algorithm can achieve a satisfactory performance to locate the robot.

Original languageEnglish
Pages (from-to)92-95
Number of pages4
JournalJournal of Harbin Institute of Technology (New Series)
Issue numberSUPPL. 2
Publication statusPublished - 2008 Jul
Externally publishedYes


  • Autonomous robot
  • Omnidirectional image
  • Self-localization

ASJC Scopus subject areas

  • General Engineering


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