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ISSN : 1975-6291(Print)
ISSN : 2287-3961(Online)
Journal of Korea Robotics Society Vol.4 No.4 pp.312-319

센서융합을 이용한 모바일로봇 실내 위치인식 기법

김 윤 구1, 이 기 동
1대구경북과학기술원 연구원, 영남대학교 전자정보공학부 교수

An Indoor Localization of Mobile Robot through Sensor Data Fusion

Ki Dong Lee, Yoon Gu Kim1


This paper proposes a low-complexity indoor localization method of mobile robot underthe dynamic environment by fusing the landmark image information from an ordinary camera and thedistance information from sensor nodes in an indoor environment, which is based on sensor network.Basically, the sensor network provides an effective method for the mobile robot to adapt toenvironmental changes and guides it across a geographical network area. To enhance the performanceof localization, we used an ordinary CCD camera and the artificial landmarks, which are devised forself-localization. Experimental results show that the real-time localization of mobile robot can beachieved with robustness and accurateness using the proposed localization method.


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