Mobile robot localization and object pose estimation using optical encoder, vision and laser sensors

@article{Lang2008MobileRL,
  title={Mobile robot localization and object pose estimation using optical encoder, vision and laser sensors},
  author={Haoxiang Lang and Ying Jun Wang and C. W. de Silva},
  journal={2008 IEEE International Conference on Automation and Logistics},
  year={2008},
  pages={617-622}
}
A key problem of a mobile robot system is how to localize itself and detect objects in the workspace. In this paper, a multiple sensor based robot localization and object pose estimation method is presented. First, optical encoders and odometry model are utilized to determine the pose of the mobile robot in the workspace, with respect to the global coordinate system. Next, a CCD camera is used as a passive sensor to find an object (a box) in the environment, including the specific vertical… CONTINUE READING
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