Self-localization system for robots using random dot floor patterns

Yutaro Fukase, Hiroshi Kanamori, Shinich Kimura

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

Various types of service robots have recently been developed for guarding facilities, caring for the elderly, carrying objects, and cleaning buildings. As barrier-free facilities improve and their use expands, these robots have more space within which to move inside buildings. Yet robots that move autonomously rely on position-detection systems. Though improving rapidly, these systems are far from perfect in determining positions in certain situations, especially when robots navigate large areas or cross various locations. Our group is working to solve this problem by developing a position-detection system using random-dot patterns on a floor. First, we construct a floor with a random-dot pattern and register the positions of all of the dots into a database. As the robot moves across the floor, a camera on the robot captures an image of the floor beneath it and crops the dot pattern in the image. The cropped dot pattern is matched to the dot patterns in the database to determine the position of the robot and the direction in which the robot is facing or moving. In this paper we propose a self-localization system and matching algorithms derived from a space technology and present the results of several experiments.

Original languageEnglish
Pages304-312
Number of pages9
Publication statusPublished - 1 Dec 2013
Event30th International Symposium on Automation and Robotics in Construction and Mining, ISARC 2013, Held in Conjunction with the 23rd World Mining Congress - Montreal, QC, Canada
Duration: 11 Aug 201315 Aug 2013

Conference

Conference30th International Symposium on Automation and Robotics in Construction and Mining, ISARC 2013, Held in Conjunction with the 23rd World Mining Congress
CountryCanada
CityMontreal, QC
Period11/08/1315/08/13

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Keywords

  • Matching algorithm
  • Self-localization system
  • Space technology

Cite this

Fukase, Y., Kanamori, H., & Kimura, S. (2013). Self-localization system for robots using random dot floor patterns. 304-312. Paper presented at 30th International Symposium on Automation and Robotics in Construction and Mining, ISARC 2013, Held in Conjunction with the 23rd World Mining Congress, Montreal, QC, Canada.