GMM-Kalman 필터를 이용한 이동 로봇의 실내 위치 추정 정확도 향상 연구 A Study on Improvement of Indoor Localization Accuracy of Mobile Robot using GMM-Kalman Filter
pp.154-162
In this study, we present an algorithm for indoor robot position estimation. Estimating the position of an indoor robot using a fixed imaging device obviates the need for complex sensors or hardware, enabling easy estimation of absolute position through marker recognition. However, location estimation becomes impossible when the device moves away from the surrounding obstacles or the screen, presenting a significant drawback. To solve this problem, we propose an algorithm that improves the precision of robot indoor location estimation using a Gaussian Mixture Model(GMM) and a Kalman filter estimation model. We conducted an actual robot operation experiment and confirmed accurate position estimation, even when the robot was out of the image.