Hala Mousher Ebied, Ulf Witkowski, Ulrich Rückert, Mohamed Saied Abdel-Wahab


In this paper, we will consider the localization problem of the autonomous minirobot Khepera II in a known environment. Mobile robots must be able to determine their own position to operate successfully in any environments. Our system combines odometry and a 2-D vision sensor to determine the position of the robot based on a new triangulation algorithm. The new system uses different colored cylinder landmarks which are positioned at the corners of the environment. The main aim is to analyze the accuracy and the robustness in case of noisy data and to obtain an accurate method to estimate the robot’s position.


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Paper Citation

in Harvard Style

Mousher Ebied H., Witkowski U., Rückert U. and Saied Abdel-Wahab M. (2008). ROBOT LOCALIZATION BASED ON VISUAL LANDMARKS . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 49-53. DOI: 10.5220/0001484400490053

in Bibtex Style

author={Hala Mousher Ebied and Ulf Witkowski and Ulrich Rückert and Mohamed Saied Abdel-Wahab},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},

in EndNote Style

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
SN - 978-989-8111-31-9
AU - Mousher Ebied H.
AU - Witkowski U.
AU - Rückert U.
AU - Saied Abdel-Wahab M.
PY - 2008
SP - 49
EP - 53
DO - 10.5220/0001484400490053