This paper proposes a novel upward-looking camera-based global localization using a ceiling image map. The ceiling images obtained through the SLAM process are integrated into the ceiling image map using a particle filter. Global localization is performed by matching the ceiling image map with the current ceiling image using SURF keypoint correspondences. The robot pose is then estimated by the coordinate transformation from the ceiling image map to the global coordinate system. A series of experiments show that the proposed method is robust in real environments.

 Abstract  1. 서 론  2. 천장 영상지도 작성   2.1 천장 영상 및 좌표정보 획득을 위한 SLAM   2.2 영상 통합  3. 영상정합 기반 전역 위치추정   3.1 SURF 기반 영상정합   3.2 전역 위치 후보 선정   3.3 전역 위치추정  4. 전역 위치추정 실험 결과  5. 결 론  References

• 허환(고려대학교 일반대학원 메카트로닉스협동과정 석사과정) | Heo, Hwan
• 송재복( 고려대학교 기계공학부 교수) | 송재복