천장 영상지도 기반의 전역 위치추정

Abstract

This paper proposes a novel upward-looking camera-based global localization using aceiling image map. The ceiling images obtained through the SLAM process are integrated into theceiling image map using a particle filter. Global localization is performed by matching the ceiling imagemap with the current ceiling image using SURF keypoint correspondences. The robot pose is thenestimated by the coordinate transformation from the ceiling image map to the global coordinate system. A series of experiments show that the proposed method is robust in real environments.