Localization of Mobile Robot Based on Least Square Method

DOI

10.2991/iccsee.2013.573How to use a DOI?

Keywords

SIFT, RANSAC, motion estimation, least squares

Abstract

Localization is the basis for navigation of mobile robots. This paper focuses on key techniques of localization for mobile robots based on vision. Firstly, the specific measures and steps of the algorithm are analyzed and researched in depth. In the study, SIFT algorithm combined with epipolar geometry constraint is used on the environment feature point detection, matching and tracking. And the method of RANSAC combined with the least squares is used to obtain accurate results of the motion estimation. Then the necessary experiments are carried out to verify the correctness and effectiveness of algorithms. The experimental results verified the accuracy of the improved algorithm.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Jialu Li
AU  - Linbing Long
AU  - Baofeng Zhang
PY  - 2013/03
DA  - 2013/03
TI  - Localization of Mobile Robot Based on Least Square Method
BT  - Proceedings of the 2nd International Conference on Computer Science and Electronics Engineering (ICCSEE 2013)
PB  - Atlantis Press
SP  - 2287
EP  - 2290
SN  - 1951-6851
UR  - https://doi.org/10.2991/iccsee.2013.573
DO  - 10.2991/iccsee.2013.573
ID  - Li2013/03
ER  -