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A Robust Landmark Localization System for Outdoor Mobile Robot
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WANG Jingchuan1,2,CHEN Weidong1,2,ZHANG Xu1
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（1. School of Electronic, Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200240, China; 2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China）
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Abstract A landmark recognition and localization system with an enhanced robustness against large changes of lighting conditions eas presented for outdoor mobile robot. A near infrared illuminator was used for reducing the interference of natural light and shadow. The omnidirectional camera could capture images with more landmarks in a wide range of environment. For improving the landmark's recognition rate, a dynamic OTSU binarization method was adopted for enhancing the feature of landmarks in uneven lighting image. The outdoor realrobot localization experiments demonstrate the system’s robustness.
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Received: 12 January 2010
Published: 28 September 2010
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