Motion estimation and self-localization based on computer vision and artificial marker deposition

This paper presents a new approach of self-localization utilizing artificial markers deposited from the mobile robot during motion. The main idea of this system is to temporarily place artificial markers in the environment such as the surface the robot is maneuvering over. Once the markers are placed in the environment, they have zero speed, i.e. they represent the speed of the environment over which the robot is traversing. The speed of these markers with respect to the moving robot is then measured using a two dimensional (possibly three dimensional) sensor affixed to the robot. The proposed sensor system is composed of two main subsystems. The first subsystem generates the markers and places them on the surface. The second subsystem is a receiving element, which continuously acquires relative position signals from the markers placed on the surface. This new sensor concept is envisaged to be applied in the following areas, automotive sector, planetary exploration and underwater seabed exploration. This approach also can be extended easily for walking machines. Initial experiments employing a camera system as sensor have been conducted and results are presented.