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Extended Kalman Filter (EKF) Based Localization Algorithms for Mobile Robots Utilizing Vision and Odometry

In this paper, we describe a positioning method for a moving mobile robot in a known environment. The proposed technique incorporates location estimation by letting cameras to recognize the QR code from fixed markers. These fixed points will provide the reference points listed in the database. The s...

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Main Authors:	Tran, Hoang T., Vo, Thanh C., Tran, Dong Lt, Nguyen, Quan Na, Ha, Duyen M., Pham, Quang N., Le, Thanh Q., Nguyen, Thang K., Do, Hai T., Nguyen, Minh T.
Format:	Conference Proceeding
Language:	English
Subjects:	Cameras Data fusion Extended Kalman filter GPS Laser range finder Localization Navigation Omni-camera QR codes Robot localization Robot vision systems Sensor fusion Sensors Service robots Sonar
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creator	Tran, Hoang T. Vo, Thanh C. Tran, Dong Lt Nguyen, Quan Na Ha, Duyen M. Pham, Quang N. Le, Thanh Q. Nguyen, Thang K. Do, Hai T. Nguyen, Minh T.
description	In this paper, we describe a positioning method for a moving mobile robot in a known environment. The proposed technique incorporates location estimation by letting cameras to recognize the QR code from fixed markers. These fixed points will provide the reference points listed in the database. The system will calculate the angle to each landmark and then correct the robot's directions. The extended Kalman filter is deployed to correct the position and orientation of the robot from the error between the viewing angle and the estimate to each datum. The experimental results show that the approach improves and suffices in robot localization for navigation tasks. Results from experiments in real environments are presented including analysis. The results are significant and show promise.
doi_str_mv	10.1109/MELECON53508.2022.9843066
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subjects	Cameras Data fusion Extended Kalman filter GPS Laser range finder Localization Navigation Omni-camera QR codes Robot localization Robot vision systems Sensor fusion Sensors Service robots Sonar
title	Extended Kalman Filter (EKF) Based Localization Algorithms for Mobile Robots Utilizing Vision and Odometry
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