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Conference Paper
Mobile Robot Navigation using RFID and Vision Sensor
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- Authors
- Heesung Chae, Sangik Na
- Issue Date
- 2007-11
- Citation
- International Symposium on Information Technology Convergence (ISITC) 2007, pp.48-51
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper illustrate an efficient method for global localization incorporating signal detection from artificial landmark consisted of RFID tags, and for fine localization incorporating feature descriptor derived from a view of scene. The system incorporates a RFID reader on a mobile robot checking the signal from RFID tags to localize the robot with respect to global position. After determining the global position of the robot, the feature matching can be used to checking the local position of it in a predetermined global position. And we propose a successive global-to-fine localization algorithm using RFID tags and feature matching respectively. The experimental results showed the proposed algorithm has improved the localization performance on indoor environments with a mobile robot.
- KSP Keywords
- Artificial landmark, Feature descriptor, Global localization, Global position, Indoor environment, Local position, Localization performance, Mobile Robot Navigation, RFID TAG, RFID reader, Vision sensor