Estimation Of Relative Self-Localization Based On Natural Landmark And An Improved Surf

Xing Xiong, Byung-Jae Choi
2013 Zenodo  
It is important for an autonomous mobile robot to know where it is in any time in an indoor environment. In this paper, we design a relative self-localization algorithm. The algorithm compare the interest point in two images and compute the relative displacement and orientation to determent the posture. Firstly, we use the SURF algorithm to extract the interest points of the ceiling. Second, in order to reduce amount of calculation, a replacement SURF is used to extract orientation and
more » ... tation and description of the interest points. At last, according to the transformation of the interest points in two images, the relative self-localization of the mobile robot will be estimated greatly.
doi:10.5281/zenodo.1062474 fatcat:arlwobkakjcy7hppvtilo64hea