Next Article in Journal
Quantitative Modeling of Coupled Piezo-Elastodynamic Behavior of Piezoelectric Actuators Bonded to an Elastic Medium for Structural Health Monitoring: A Review
Next Article in Special Issue
FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links
Previous Article in Journal
A Miniature System for Separating Aerosol Particles and Measuring Mass Concentrations
Previous Article in Special Issue
FPGA-Based Fused Smart-Sensor for Tool-Wear Area Quantitative Estimation in CNC Machine Inserts
Article Menu

Export Article

Open AccessArticle
Sensors 2010, 10(4), 3655-3680;

Localization of Mobile Robots Using Odometry and an External Vision Sensor

Department of Electronics, University of Alcala, NII km 33,600, Alcala de Henares, Spain
Author to whom correspondence should be addressed.
Received: 15 January 2010 / Revised: 3 March 2010 / Accepted: 31 March 2010 / Published: 13 April 2010
(This article belongs to the Special Issue Intelligent Sensors - 2010)
Full-Text   |   PDF [3085 KB, uploaded 21 June 2014]   |  


This paper presents a sensor system for robot localization based on the information obtained from a single camera attached in a fixed place external to the robot. Our approach firstly obtains the 3D geometrical model of the robot based on the projection of its natural appearance in the camera while the robot performs an initialization trajectory. This paper proposes a structure-from-motion solution that uses the odometry sensors inside the robot as a metric reference. Secondly, an online localization method based on a sequential Bayesian inference is proposed, which uses the geometrical model of the robot as a link between image measurements and pose estimation. The online approach is resistant to hard occlusions and the experimental setup proposed in this paper shows its effectiveness in real situations. The proposed approach has many applications in both the industrial and service robot fields. View Full-Text
Keywords: robotics; vision sensor; intelligent spaces robotics; vision sensor; intelligent spaces

Graphical abstract

This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

Share & Cite This Article

MDPI and ACS Style

Pizarro, D.; Mazo, M.; Santiso, E.; Marron, M.; Jimenez, D.; Cobreces, S.; Losada, C. Localization of Mobile Robots Using Odometry and an External Vision Sensor. Sensors 2010, 10, 3655-3680.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top