Self-Positioning Robot Navigation Using Ceiling Image Sequences

摘要

This paper presents the analysis of a vision-based homing behavior that provides self-positioning for a mobile robot using ceiling structures as landmarks. This new behavior enters the navigation approach we developed for mobile robots, which basic idea is to represent the robot spatial knowledge in a topological map, where nodes consist of self-positioning sites and edges may be any reactive behavior moving the robot between two nodes. 1.