Skip to main content
Springer Nature Link
Log in

Development of an indoor navigation system for a monocular-vision-based autonomous mobile robot

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

We have developed a technology for a robot that uses an indoor navigation system based on visual methods to provide the required autonomy. For robots to run autonomously, it is extremely important that they are able to recognize the surrounding environment and their current location. Because it was not necessary to use plural external world sensors, we built a navigation system in our test environment that reduced the burden of information processing mainly by using sight information from a monocular camera. In addition, we used only natural landmarks such as walls, because we assumed that the environment was a human one. In this article we discuss and explain two modules: a self-position recognition system and an obstacle recognition system. In both systems, the recognition is based on image processing of the sight information provided by the robot’s camera. In addition, in order to provide autonomy for the robot, we use an encoder and information from a two-dimensional space map given beforehand. Here, we explain the navigation system that integrates these two modules. We applied this system to a robot in an indoor environment and evaluated its performance, and in a discussion of our experimental results we consider the resulting problems.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Hayashi E (2008) Navigation system for an autonomous robot using an ocellus camera in an indoor environment. Artif Life Robotics 12:346–352

    Article  Google Scholar 

  2. Kinoshita T, Hayashi E (2009) Development of distance recognition using an ocellus camera for an autonomous personal robot. Artif Life Robotics 13:346–349

    Article  Google Scholar 

  3. Hayashi E (2007) Navigation system with a self-drive control for an autonomous robot in an indoor environment. 16th International Symposium on Robot and Human Interactive Communication (RO-MAN 2007), p 6 in CD-ROM

  4. Kriegman DJ, Triendl E, Binford TO (1989) Stereo vision and navigation in buildings for mobile robots. IEEE Trans Robotics Autom 5:792–803

    Article  Google Scholar 

  5. Belker T, Schulz D (2002) Local action planning for mobile robot collision avoidance. IEEE/RSJ International Conference on Intelligent Robots and Systems’ 02 IROS, pp 601–606

  6. Komoriya K, Oyama E, Tani K (1992) Planning of landmark measurement for the navigation of a mobile robot. IEEE/RSJ International Conference on Intelligent Robot and Systems, pp 1476–1481

  7. Umeno T, Hayashi E (2006) Navigation system for an autonomous robot using an ocellus camera in an indoor environment. Proceedings of the 11th International Symposium on Artificial Life and Robotics, vol 1, Beppu, Oita, Japan, p 229

    Google Scholar 

  8. Kinoshita T, Hayashi E (2008) Development of distance recognition using an ocellus camera for an autonomous personal robot. Artificial Life and Robotics (AROB 13th’ 08), p 4 (CD-ROM)

  9. Ballard DH (1981) Generalizing the Hough transform to detect arbitrary shapes. Pattern Recognition 13:111–122

    Article  MATH  Google Scholar 

  10. Arkin RC (1989) Motor schema-based mobile robot navigation. Int J Robotics Res, August 1989, pp 92–112

  11. Brooks RA (1986) A robust layered control system for a mobile robot. IEEE J Robotics Autom RA-2(1):14–23

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical Information Science and Technology, Faculty of Computer Science and Systems Engineering, Kyushu Institute of Technology, 680-4 Kawazu, Iizuka, Fukuoka, Japan

    Eiji Hayashi

  2. Mitsubishi Electric Corporation, Mitsubishi, Japan

    Tomoyuki Kinoshita

Authors
  1. Eiji Hayashi
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. Tomoyuki Kinoshita
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to Eiji Hayashi.

Additional information

This work was presented in part at the 14th International Symposium on Artificial Life and Robotics, Oita, Japan, February 5–7, 2009

About this article

Cite this article

Hayashi, E., Kinoshita, T. Development of an indoor navigation system for a monocular-vision-based autonomous mobile robot. Artif Life Robotics 14, 324–328 (2009). https://doi.org/10.1007/s10015-009-0671-4

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10015-009-0671-4

Key words