Mobile Robot Localization with Kinect RGB-D Sensor

Abstract

We propose a method for performing localization of a mobile robot using a Microsoft Kinect RGB-D sensor. We make use of artificial landmarks placed at known locations in the environment. The robot tries to locate these landmarks based upon their color and shape and in turn, measure the range and bearing to the same. The range and bearing information so received is noisy. The proposed method estimates the robot's pose in the world coordinates using Monte Carlo Localization. The total count of the landmarks and their individual locations (in world coordinate system) is to be provided apriori to the robot, which is akin to using a map of the environment, but having very low resource requirements.