NDLI: MCL-based global localization of cleaning robot using fast rotation-invariant corner matching method

Content Provider	IEEE Xplore Digital Library
Author	Tae-Bum Kwon Jae-Bok Song Sung-Chul Kang
Copyright Year	2010
Description	Author affiliation: Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, Korea (Tae-Bum Kwon; Sung-Chul Kang) \|\| School of Mechanical Engineering, Korea University, Seoul, Korea (Jae-Bok Song)
Abstract	Mobile robot navigation with ceiling features such as a corner which is one of the most popular visual features used in robotics has been widely studied because of its practicality and high performance, and recently low-cost robots have started to use this navigation technique. A cleaning robot is a good example. This study is focused on global localization of a cleaning robot and MCL, one of the popular localization methods, was used with ceiling corners. However, MCL-based global localization is a very time consuming task even on a PC, and so a fast rotation-invariant corner matching method was proposed in this study to reduce the time of global localization with corner features. A pixel-based sum of squared differences (SSD) method has been widely used for corner matching. However, because this method cannot match corners with rotation changes, it is unsuitable for a cleaning robot where corners observed from the robot have rotation changes. In our approach, the image around a corner is divided into some partitions and the representative values of all partitions are computed to generate a rotation-invariant descriptor. This descriptor consists of a small number of values, and two descriptors are simply compared to match two corners. Various experiments on a PC and an embedded system verify that matching by the proposed method is very fast and invariant to a rotation change, and is more suitable for a cleaning robot than the pixel-based SSD method. Moreover, global localization can be conducted using this matching method.
Starting Page	1988
Ending Page	1992
File Size	591215
Page Count	5
File Format	PDF
ISBN	9781424474530
e-ISBN	9788993215021
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-27
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	IEEE International Conference on Control & Automation
Subject Keyword	Robot vision systems Rotation-Invariant Corner Matching Feature extraction Cameras Cleaning Computational efficiency Ceiling Corner Pixel Cleaning Robot Localization
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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