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

研究成果: 雜誌貢獻文章

6 引文 斯高帕斯(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.

頁(從 - 到)2089-2109
期刊Sensors (Switzerland)
出版狀態已發佈 - 2014 一月 27


ASJC Scopus subject areas

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