Home service robot location based on AdaBoost and Haar-like feature

This paper proposes a complete robot location system: monitor moving robot in household environment and get its accurate physical coordinates to provide assistance information for robot decision making system. Firstly, video flow retrieved from a multi-camera system is processed by an object tracking system, which is based on AdaBoost algorithm and Haar- like features with a slight improvement. Secondly, the tracking result is mapped by a general mapping system designed for multi-camera system. Experiment results show the validity and robustness of the proposed robot location system.