Natural landmarks based localization algorithm for indoor robot with binocular vision

Self-localization in unknown environment is one of the most fundamental tasks for mobile robot. In this paper, a novel natural landmarks based localization method is proposed for indoor robot equipped with binocular vision, ceiling corner is taken as natural landmarks. The absolute location of the robot is determined according to the principle of triangular localization. The ceiling corner feature extraction is very importance for localization. Firstly, FAST with adaptive double threshold is proposed to extract feature points, which is described by 32-dimension SIFT descriptor. Then the absolute location is determined by matching feature points with landmarks database based on SIFT. Finally, the feasibility and effectiveness of proposed localization method is demonstrated.