Ceiling-Vision-Based Mobile Object Self-Localization: A Composite Framework

Abstract

Self-localization of mobile objects is a fundamental requirement for autonomy. Mobile objects can be for example a mobile service robot, a motorized wheelchair, a mobile cart for transporting tasks or similar. Self-localization represents as well a necessary feature to develop systems able to perform autonomous movements such as navigation tasks. Self-localization is based upon reliable information coming from sensor devices situated on the mobile objects. There are many sensors available for that purpose. The early devices for positioning are rotary encoders. If the encoders are connected to wheels or legs movement actuators, relative movements of the mobile object during its path [3] can be measured. Then, mobile object positioning can be obtained with dead-reckoning approaches. Dead reckoning [3] is still widely used for mobile robot positioning estimation. It is also true that dead-reckoning is quite unreliable for long navigation tasks, because of accumulated error problems.