Vision Based Localization

This research is concentrated to vision based localization under environment with monotonous characteristics. Initially, the mobile robot wanders unknown environment using gvg algorithm and laser scanner. During the initial wander, a Topological map containing image database generated according to the robot map standardization document.

The generated image map is used for position recognition of the mobile robot or human. When a image of random location is recognized, the geometric information of image is extracted from the comparison of line histogram and vanishing point of input image and image database. From the result of image processing, the candidates of exact positions are recommended from the database . The exact position among the candidates is extracted by the particle filter. This algorithm is applied to android smart phone prototype application