A vision based algorithm for active robot localization

TitleA vision based algorithm for active robot localization
Publication TypeConference Paper
Year of Publication2005
AuthorsFrontoni E, Zingaretti P
Conference NameProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA

This paper describes a method to localize a mobile robot in a structured indoor environment from visual information provided by omnidirectional images. In particular, an approximate algorithm for active robot localization in partially observable environments based on a POMDP model is introduced. Results from many different tests are presented to prove the setting of algorithm parameters. They show that a localization accuracy of less than 25 cm can be achieved even with a partial knowledge of the environment Besides, the proposed approximated algorithm reduces the computational cost without degrading results. © 2005 IEEE.