Visual localization of an omnidirectional robot using color detection by a multicamera system

摘要

Vision systems have become a promising feedback sensor for robot navigation due to their ability to extract meaningful scene information. In this work, a multicamera system is proposed to estimate the position and orientation of an omnidirectional robot. For this, three calibrated devices (two smartphones and a webcam) are employed. Also, two badges of different colors are placed on the omnidirectional robot to detect its position and orientation. The obtained pose information is used as feedback for the robot trajectory controller. The results show that the proposed system is a useful alternative for the visual localization of ground mobile robots.