Abstract
Summary form only given. This paper proposes a localization method
of indoor mobile robot using vision and color signboard. The color
signboard is placed in the environment as landmark to decide the robot's
absolute position. The signboard is also attached to each robot for
localization among robots. The color signboard is designed such that the
robot can perform three key functions: the signboard detection,
identification and localization. Autonomous navigation of mobile robots
in wide area as well as cooperative operations requires many signboards
with unique identification pattern. The color coding method allows us to
make many distinct signboards. Several mobile robots hovering in the
same environment may cause the unforeseen obstruction to the viewing of
the signboards. Our color signboard allows the robot to verify its own
position when the signboard is visible entirely in the field of view.
The absolute positioning algorithm for mobile robot using the color
signboard is described, where the vision and odometric dead reckoning
information is combined by the extended Kalman filter
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