Mobile robot self-localization system using single webcam distance measurement technology in indoor environments

I. Hsum Li, Ming Chang Chen, Wei Yen Wang, Shun Feng Su, To Wen Lai

Research output: Contribution to journalArticle

6 Citations (Scopus)


A single-webcam distance measurement technique for indoor robot localization is proposed in this paper. The proposed localization technique uses webcams that are available in an existing surveillance environment. The developed image-based distance measurement system (IBDMS) and parallel lines distance measurement system (PLDMS) have two merits. Firstly, only one webcam is required for estimating the distance. Secondly, the set-up of IBDMS and PLDMS is easy, which only one known-dimension rectangle pattern is needed, i.e., a ground tile. Some common and simple image processing techniques, i.e., background subtraction are used to capture the robot in real time. Thus, for the purposes of indoor robot localization, the proposed method does not need to use expensive high-resolution webcams and complicated pattern recognition methods but just few simple estimating formulas. From the experimental results, the proposed robot localization method is reliable and effective in an indoor environment.

Original languageEnglish
Pages (from-to)2089-2109
Number of pages21
JournalSensors (Switzerland)
Issue number2
Publication statusPublished - 2014 Jan 27



  • Image-based distance measurement system
  • Indoor robot localization
  • Parallel lines distance measurement system

ASJC Scopus subject areas

  • Analytical Chemistry
  • Biochemistry
  • Atomic and Molecular Physics, and Optics
  • Instrumentation
  • Electrical and Electronic Engineering

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