A Hybrid Distributed Vision System for Robot Localization

Localization is one of the critical issues in the field of robot navigation. With an accurate estimate of the robot pose, robots will be capable of navigating in the environment autonomously and efficiently. In this paper, a hybrid Distributed Vision System (DVS) for robot localization is presented. The presented approach integrates odometry data from robot and images captured from overhead cameras installed in the environment to help reduce possibilities of fail localization due to effects of illumination, encoder accumulated errors, and low quality range data. An odometry-based motion model is applied to predict robot poses, and robot images captured by overhead cameras are then used to update pose estimates with HSV histogram-based measurement model. Experiment results show the presented approach could localize robots in a global world coordinate system with localization errors within 100mm.

Authors:

• Hsiang-Wen Hsieh
• Chin-Chia Wu
• Hung-Hsiu Yu
• Shu-Fan Liu

Keywords:

• Distributed Vision System
• Localization
• Measurement model
• Motion model

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