Next Article in Journal
Previous Article in Journal
Sensors 2014, 14(2), 2089-2109; doi:10.3390/s140202089
Article

Mobile Robot Self-Localization System Using Single Webcam Distance Measurement Technology in Indoor Environments

1
, 2
, 3,* , 2
 and 3
Received: 10 September 2013; in revised form: 22 January 2014 / Accepted: 23 January 2014 / Published: 27 January 2014
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [1032 KB, updated 21 June 2014; original version uploaded 21 June 2014]
Abstract: A single-webcam distance measurement technique for indoor robot localization is proposed in this paper. The proposed localization technique uses webcams that are available in an existing surveillance environment. The developed image-based distance measurement system (IBDMS) and parallel lines distance measurement system (PLDMS) have two merits. Firstly, only one webcam is required for estimating the distance. Secondly, the set-up of IBDMS and PLDMS is easy, which only one known-dimension rectangle pattern is needed, i.e., a ground tile. Some common and simple image processing techniques, i.e., background subtraction are used to capture the robot in real time. Thus, for the purposes of indoor robot localization, the proposed method does not need to use expensive high-resolution webcams and complicated pattern recognition methods but just few simple estimating formulas. From the experimental results, the proposed robot localization method is reliable and effective in an indoor environment.
Keywords: indoor robot localization; image-based distance measurement system; parallel lines distance measurement system indoor robot localization; image-based distance measurement system; parallel lines distance measurement system
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Export to BibTeX |
EndNote


MDPI and ACS Style

Li, I.-H.; Chen, M.-C.; Wang, W.-Y.; Su, S.-F.; Lai, T.-W. Mobile Robot Self-Localization System Using Single Webcam Distance Measurement Technology in Indoor Environments. Sensors 2014, 14, 2089-2109.

AMA Style

Li I-H, Chen M-C, Wang W-Y, Su S-F, Lai T-W. Mobile Robot Self-Localization System Using Single Webcam Distance Measurement Technology in Indoor Environments. Sensors. 2014; 14(2):2089-2109.

Chicago/Turabian Style

Li, I-Hsum; Chen, Ming-Chang; Wang, Wei-Yen; Su, Shun-Feng; Lai, To-Wen. 2014. "Mobile Robot Self-Localization System Using Single Webcam Distance Measurement Technology in Indoor Environments." Sensors 14, no. 2: 2089-2109.



Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert