This paper presents localizer module for mobile robot that travels around indoor warehouse environments. Our module uses the only one sensor, a single camera looking up the ceiling. There is no efficient enough SLAM algorithm working on embedded system. The initial difficulty of vision based SLAM is computational complexity to acquire reliable feature on their algorithm. To reduce the computational complexity, we use the ceiling segmentation to extract line features of ceiling area. Line features are extracted from the boundaries between the ceiling and walls. Extended Kalman Filter is used to estimate the pose of a robot and build the ceiling map with line features. The experiment is practiced in our indoor test bed and the proposed algorithm is proved by the experimental results.

© 2015 Optical Society of America

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