Localization and error correction for mobile robot with an image sensor

Isaku Nagai, Yutaka Tanaka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)


This paper describes localization and error correction of a mobile robot with a visual device which we have developed. The device can track floor image with natural texture and estimate the motion of a camera mounted in the robot. The robot is localized and controlled in real time according to information of position and direction estimated by the device. As a benefit of this method, accumulated errors of position and direction for a section in a path can be eliminated by finding an original floor image memorized at each target point where the robot reaches in the whole running. The robot have run a closed path repeatedly without a digression of the track by correcting the accumulated error. The method has a feature that double roles of both internal and external sensor are realized by a single image sensor.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages5
Publication statusPublished - Dec 1 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: Oct 18 2006Oct 21 2006

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • Floor image
  • Localization
  • Mobile robot
  • Motion estimation
  • Visual tracking

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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