Open AccessSelf-Position Detection System Using a Visual-Sensor for Mobile Robots
Author(s) -
Takayuki Tanaka,
Y. Yamazaki,
Hiroki Watanabe,
Takeshi Katae,
Kazuo Yamafuji
Publication year - 1999
Publication title -
journal of robotics and mechatronics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.257
H-Index - 19
eISSN - 1883-8049
pISSN - 0915-3942
DOI - 10.20965/jrm.1999.p0017
Subject(s) - guard (computer science) , robot , mobile robot , computer science , computer vision , artificial intelligence , security guard , position (finance) , human–computer interaction , landmark , real time computing , simulation , computer security , economics , finance , programming language
We have been developing an intelligent mobile robot for use as an office building secretary or aid during the day and a security guard or maintenance engineer, e.g., for cleaning floors, at night. Since the robot works and moves autonomously among people in an office environment, it must be able to recognize its own location and environment. We proposed two types of self-positoin detection based on a visual sensor. One is global self-positioning (GSP) by recognizing a room number. The other is local self-positioning (LSP) calculating the relationship between the robot and three light landmarks such as two exit lamps and a fire hydrant lamp in corridors. Experiments verified the effectiveness of the robot's self-position detection.
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