The Open Automation and Control Systems Journal
2014, 6 : 1212-1218Published online 2014 December 31. DOI: 10.2174/1874444301406011212
Publisher ID: TOAUTOCJ-6-1212
A New Method For Indoor SLAM Based On Artificial Landmark
Department of Information and Technology Anqing Teachers College, 128 Linghu South Road, Anqing, Anhui province, China.
ABSTRACT
A mobile robot must be capable of localizing itself in unknown environments and constructing a map of the environments at the same time. Simultaneous localization and mapping (SLAM) is a challenging problem in indoor environments because GPS information isn’t available. An algorithm is proposed in this paper for SLAM with vision sensors, which is designed by utilizing the artificial landmark MR code and integrating the FastSLAM algorithm, the method can decrease the time cost compared with particle filter and improve the accuracy of localization and mapping compared with natural landmarks. Experiments show the effectiveness and robustness of this algorithm.