MOBILE ROBOT LOCALIZATION SCHEME BASED ON FUSION OF RFID AND VISUAL LANDMARKS

Younes Raoui, El Houssine Bouyakhf, Michel Devy

Abstract

A key function required on an autonomous mobile robot is the ability to localize itself accurately. This paper reports an RFID and vision-based localization scheme, which uses new rotation and scale invariant features as natural landmarks in static environments. The invariance of these features to image translation, scaling and rotation makes them suitable landmarks for mobile robot localization. Our RFID-based localization method presented in (Duarte et al., 2010) is made active minimizing the information entropy and improving the positioning accuracy. Then methods based on the detection of a priori learnt RFID tags and visual landmarks are combined in order to make more robust the method.

References

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Paper Citation


in Harvard Style

Raoui Y., Houssine Bouyakhf E. and Devy M. (2011). MOBILE ROBOT LOCALIZATION SCHEME BASED ON FUSION OF RFID AND VISUAL LANDMARKS . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 296-299. DOI: 10.5220/0003533502960299


in Bibtex Style

@conference{icinco11,
author={Younes Raoui and El Houssine Bouyakhf and Michel Devy},
title={MOBILE ROBOT LOCALIZATION SCHEME BASED ON FUSION OF RFID AND VISUAL LANDMARKS},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={296-299},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003533502960299},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MOBILE ROBOT LOCALIZATION SCHEME BASED ON FUSION OF RFID AND VISUAL LANDMARKS
SN - 978-989-8425-75-1
AU - Raoui Y.
AU - Houssine Bouyakhf E.
AU - Devy M.
PY - 2011
SP - 296
EP - 299
DO - 10.5220/0003533502960299