Localization of mobile robots are important tasks for

\r\ndeveloping autonomous mobile robots. This paper proposes a method

\r\nto estimate positions of a mobile robot using a omnidirectional

\r\ncamera on the robot. Landmarks for points of references are set

\r\nup on a field where the robot works. The omnidirectional camera

\r\nwhich can obtain 360 [deg] around images takes photographs of

\r\nthese landmarks. The positions of the robots are estimated from

\r\ndirections of these landmarks that are extracted from the images

\r\nby image processing. This method can obtain the robot positions

\r\nwithout accumulative position errors. Accuracy of the estimated

\r\nrobot positions by the proposed method are evaluated through some

\r\nexperiments. The results show that it can obtain the positions with

\r\nsmall standard deviations. Therefore the method has possibilities of

\r\nmore accurate localization by tuning of appropriate offset parameters.<\/p>\r\n","references":"[1] J.J. Leonard and H.F. Durrant-whyte, \"Mobile Robot Localization by\r\nTracking Geometric Beacons,\u201d IEEE Trans. on Robotics and Automation,\r\nVol. 7, No. 3, pp. 376\u2013382, 1991.\r\n[2] A. Elfes, \"Sonar-Based Real-World Mapping and Navigation,\u201d IEEE\r\nTrans. on Robotics and Automation, Vol. 3, No. 3, pp. 249\u2013265, 1987.\r\n[3] S. Godha and M.E. Cannon, \"Development of a DGPS \/ MEMS IMU\r\nIntegrated System for Navigation in Urban Canyon Conditions,\u201d Proc.\r\nof International Symposium on GPS \/ GNSS, 2005.\r\n[4] M. Betke and L. Gurvits, \"Mobile Robot Localization Using Landmark,\u201d\r\nIEEE Trans. on Robotics and Automation, Vol. 13, No. 2, pp. 251\u2013263,\r\n1997.\r\n[5] A. Nuchter, K. Lingemann, J. Hertzberg, and H. Surmann, \"6D SLAM\r\n\u2013 3D Mapping Outdoor Environments,\u201d J. of Field Robotics, Vol. 24,\r\nNo. 8\u20139, pp. 699\u2013722, 2007.\r\n[6] H. Seki, Y. Kamiya, and M. Hikizu, \"Real-time Obstacle Avoidance\r\nUsing Potential Field for a Nonholonomic Vehicle,\u201d Factory Automation,\r\npp. 523\u2013542, InTech, 2010.\r\n[7] A. Hornung, M. Phillips, E.G. Jones, M. Bennewitz, M. Likhachev, and\r\nS. Chitta, \"Navigation in Three-Dimensional Cluttered Environments\r\nfor Mobile Manipulation,\u201d Proc. of the 2012 Int. Conf. on Robotics and\r\nAutomation, 2012.","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 91, 2014"}