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Authors: Hala Mousher Ebied 1 ; Ulf Witkowski 1 ; Ulrich Rückert 1 and Mohamed Saied Abdel-Wahab 2

Affiliations: 1 System and Circuit Technology, Institute of Heinz Nixdorf, Paderborn Universit, Germany ; 2 Faculty of Computer and Information Sciences, Ain Shames University, Egypt

Keyword(s): Position system, Vision-based localization, Triangulation, Minirobot, Visual landmarks.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: 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 several formats:
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 3: ICINCO; ISBN 978-989-8111-31-9; ISSN 2184-2809, SciTePress, pages 49-53. DOI: 10.5220/0001484400490053

@conference{icinco08,
author={Hala {Mousher Ebied}. and Ulf Witkowski. and Ulrich Rückert. and Mohamed {Saied Abdel{-}Wahab}.},
title={ROBOT LOCALIZATION BASED ON VISUAL LANDMARKS},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2008},
pages={49-53},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001484400490053},
isbn={978-989-8111-31-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - ROBOT LOCALIZATION BASED ON VISUAL LANDMARKS
SN - 978-989-8111-31-9
IS - 2184-2809
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
PB - SciTePress

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