Supporting Mobile Robot Localization by Visual Bar Code Recognition

1999 IASTED Conference on Robotics and Applications (RA'99)
Santa Barbara, USA, October 28-30, 1999

Klaus-Werner Jörg, Torsten Gattung, Joachim Weber

Self-localization as precondition for goal-oriented behavior is a fundamental proberty an autonomous mobile robot needs to be equipped with. This paper addresses the self-localization problem from a pragmatical point of view since it argues for using passive artificial landmarks in order to support mobile robot localization in indoor environments. The idea is to further improve already existing localization capabilities by providing relevant environmental spots with semantic information. In order to facilitate the detection of these landmarks the employment of bar codes is proposed. Experimental results concerning the detection and identification of bar code labels by means of vision are presented.

Paper (pdf)

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