The localization of the robot is one of the most important factors of navigating mobile robots. The use of featured information of landmarks is one approach to estimate the location of the robot. This approach can be classified into two categories: the natural-landmark-based and artificial-landmark-based approach. Natural landmarks are suitable for any environment, but they may not be sufficient for localization in the less featured or dynamic environment. On the other hand, artificial landmarks may generate shaded areas due to space constraints. In order to improve these disadvantages, this paper presents a novel development of the localization system by using artificial and natural-landmarks-based approach on a topological map. The proposed localization system can recognize far or near landmarks without any distortion by using landmark tracking system based on top-view image transform. The camera is rotated by distance of landmark. The experiment shows a result of performing position recognition without shading section by applying the proposed system with a small number of artificial landmarks in the mobile robot.

This paper proposes a pose-graph based SLAM method using an upward-looking camera and artificial landmarks for AGVs in factory environments. The proposed method provides a way to acquire the camera extrinsic matrix and improves the accuracy of feature observation using a low-costcamera. SLAM is conducted by optimizing AGV’s explored path using the artificial landmarks installed on the ceiling at various locations. As the AGV explores, the pose nodes are added based on the certain distance from odometry and the landmark nodes are registered when AGV recognizes the fiducial marks. As a result of the proposed scheme, a graph network is created and optimized through a G2O optimization tool so that the accumulated error due to the slip is minimized. The experiment shows that the proposed method is robust for SLAM in real factory environments.

To achieve autonomous mobile robot navigation, accurate localization technique is the fundamental issue that should be addressed. In augmented reality, the position of a user is required for location-based services. This paper presents indoor localization using infrared reflective artificial landmarks. In order to minimize the disturbance to the user and to provide the ease of installation, the passive landmarks are used. The landmarks are made of coated film which reflects the infrared light efficiently. Infrared light is not visible, but the camera can capture the reflected infrared light. Once the artificial landmark is identified, the camera’s relative position/orientation is estimated with respect to the landmark. In order to reduce the number of the required artificial landmarks for a given environment, the pan/tilt mechanism is developed together with the distortion correction algorithm.