Localization is a main problem in most mobile robot navigation systems. One of its functions besides determining the position of the robot is to sense the surrounding environment. There are different solutions for this problem with a wide scale of complexity from local collision avoidance to global positioning systems. In this paper we will present a camera- and image processing-based global indoor localization system for the localization of a mobile robot and all other objects in its surrounding environment. We will present how the system is able to locate different objects marked with simple marker shapes, and any other objects in the working area. The presented method is also able to keep track of moving objects, and predict their future positions. We will show the basic steps of this image processing algorithm, including how Fourier transformation is used to determine the main localization parameters.
展开▼
