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Improving the mobile robots indoor localization system by combining SLAM with fiducial markers

2021Conference object Open access
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dc.contributor.authorOliveira Júnior, Alexandre de
dc.contributor.authorPiardi, Luis
dc.contributor.authorBertogna, Eduardo Giometti
dc.contributor.authorLeitão, Paulo
dc.date.accessioned2022-03-04T14:14:14Z
dc.date.available2022-03-04T14:14:14Z
dc.date.issued2021
dc.description.abstractAutonomous mobile robots applications require a robust navigation system, which ensures the proper movement of the robot while performing their tasks. The key challenge in the navigation system is related to the indoor localization. Simultaneous Localization and Mapping (SLAM) techniques combined with Adaptive Monte Carlo Localization (AMCL) are widely used to localize robots. However, this approach is susceptible to errors, especially in dynamic environments and in presence of obstacles and objects. This paper presents an approach to improve the estimation of the indoor pose of a wheeled mobile robot in an environment. To this end, the proposed localization system integrates the AMCL algorithm with the position updates and corrections based on the artificial vision detection of fiducial markers scattered throughout the environment to reduce the errors accumulated by the AMCL position estimation. The proposed approach is based on Robot Operating System (ROS), and tested and validated in a simulation environment. As a result, an improvement in the trajectory performed by the robot was identified using the SLAM system combined with traditional AMCL corrected with the detection, by artificial vision, of fiducial markers.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationOliveira Junior, Alexandre de; Piardi, Luis; Bertogna, Eduardo Giometti; Leitao, Paulo (2021). Improving the mobile robots indoor localization system by combining slam with fiducial markers. In 18thLatin American Robotics Symposium, 13th Brazilian Symposium on Robotics, and 12th Workshop on Robotics in Education, LARS-SBR-WRE 2021. p. 234-239. ISBN 978-1-6654-0761-8pt_PT
dc.identifier.doi10.1109/LARS/SBR/WRE54079.2021.9605456pt_PT
dc.identifier.isbn978-1-6654-0761-8
dc.identifier.urihttp://hdl.handle.net/10198/25158
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectComputer visionpt_PT
dc.subjectIndoor positioning systemspt_PT
dc.titleImproving the mobile robots indoor localization system by combining SLAM with fiducial markerspt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.citation.endPage239pt_PT
oaire.citation.startPage234pt_PT
person.familyNameOliveira Júnior
person.familyNamePiardi
person.familyNameLeitão
person.givenNameAlexandre de
person.givenNameLuís
person.givenNamePaulo
person.identifierhttps://scholar.google.com/citations?user=WurUUUUAAAAJ&hl=pt-PT&oi=ao
person.identifierA-8390-2011
person.identifier.ciencia-id7311-463F-3FA3
person.identifier.ciencia-idC51A-82DB-016F
person.identifier.ciencia-id8316-8F13-DA71
person.identifier.orcid0000-0002-7009-3965
person.identifier.orcid0000-0003-1627-8210
person.identifier.orcid0000-0002-2151-7944
person.identifier.scopus-author-id57426745400
person.identifier.scopus-author-id35584388900
rcaap.rightsopenAccesspt_PT
rcaap.typeconferenceObjectpt_PT
relation.isAuthorOfPublicationff0045fd-7bb6-47aa-b897-08db712bb347
relation.isAuthorOfPublication643e9664-ec9b-4b2f-b93c-6f3f8335fd61
relation.isAuthorOfPublication68d9eb25-ad4f-439b-aeb2-35e8708644cc
relation.isAuthorOfPublication.latestForDiscoveryff0045fd-7bb6-47aa-b897-08db712bb347

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