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Sensors 2014, 14(2), 2089-2109; doi:10.3390/s140202089

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

1
Department of Information Technology in Lee-Ming Institute of Technology, No.2-2, Lizhuan Rd., Taishan Dist., New Taipei 243, Taiwan
2
Department of Electrical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei 106, Taiwan
3
Department of Applied Electronics Technology, National Taiwan Normal University, 160, He-ping East Rd., Section 1, Taipei 106, Taiwan
*
Author to whom correspondence should be addressed.
Received: 10 September 2013 / Revised: 22 January 2014 / Accepted: 23 January 2014 / Published: 27 January 2014
(This article belongs to the Section Physical Sensors)

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 (CC BY 3.0).

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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.

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