Localization of Mobile Robots Based on Depth Camera

Abstract

In scenarios of indoor localization of mobile robots, Global Positioning System (GPS) signals are prone to loss due to interference from urban building environments and cannot meet the needs of robot localization. On the other hand, traditional indoor localization methods based on wireless signals such as Bluetooth and WiFi often require the deployment of multiple devices in advance, and these methods can only obtain distance information and are unable to obtain the attitude of the positioning target in space. This paper proposes a method for the indoor localization of mobile robots based on a depth camera. Firstly, we extracted ORB feature points from images captured by a depth camera and performed homogenization processing. Then, we performed feature matching between adjacent two frames of images, and the mismatched points are eliminated to improve the accuracy of feature matching. Finally, we used the Iterative Closest Point (ICP) algorithm to estimate the camera’s pose, thus achieving the localization of mobile robots in indoor environments. In addition, an experimental evaluation was conducted on the TUM dataset of the Technical University of Munich to validate the feasibility of the proposed depth-camera-based indoor localization system for mobile robots. The experimental results show that the average localization accuracy of our algorithm on three datasets is 0.027 m, which can meet the needs of indoor localization for mobile robots.