Indoor visual localization of a wheelchair using Shi-Tomasi and KLT

Abstract

A solution for precise indoor localization is sought by the robot navigation scientific community. There are many approaches to solve this problem, including sensor fusion: inertial sensors, cameras, lasers and signal strength-based methods (Wi-Fi). This paper presents an approach using a single camera embedded on the robot, pointing to the floor. To validate this method, an application using an electric powered wheelchair in an indoor environment is presented.