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Robot autonomous localization based on a single artificial landmark

ZHAO Shou-peng;TIAN Guo-hui;LI Xiao-lei   

  1. School of Control Science and Engineering,Shandong University,Jinan 250061，China
  • Received:2006-12-27 Revised:1900-01-01 Online:2007-08-24 Published:2007-08-24
  • Contact: ZHAO Shou-peng

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Abstract: Based on four essential rules of how to design a landmark, a new style of landmark is proposed, that is a planar self-similar landmark based on QR code technology. The method to detect and recognize the landmark is studied. Based on camera calibration methods, the camera parameters are computed by finding the calibration points in the landmark, which can make the robot realize autonomous localization by only a single landmark. Experimental results show that the robot could locate and navigate fast and accurately using this style of landmark in a complex environment.

Key words: camera calibration, robot autonomous localization , artificial landmark

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  • TP24
[1] JIANG Haitao, TIAN Guohui*, XUE Yinghua, LI Rongkuan. Design, recognition, localization and application of a new artificial landmark [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2011, 41(2): 107-113.
[2] TIAN Guo-hui, ZHANG Tao-tao*, WU Hao, XUE Ying-hua, ZHOU Feng-yu. Robot navigation in a large scale environment based on distributed navigation information [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2011, 41(1): 24-31.
[3] , . Robot Autonomous Localization Based on Single Artificial Landmark [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2007, 37(4): 0-0 .
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