Use of infrared light reflecting landmarks for localization

Abstract

Purpose This paper aims to present a novel localization scheme using infrared light reflecting artificial landmarks. Design/methodology/approach By putting the infrared light reflecting landmarks on the ceiling, localization is achieved. The landmark is designed for effective recognition and identification. From the difference of two successive images, one with the infrared light illumination and the other without, the landmarks are clearly identified. Findings From the mathematical analysis, a greater of landmarks are required if the robot's tilt angles are not known. With the camera's pan/tilt angles information, the distortion of the image can be corrected and fewer landmarks are required. Movement of the camera while getting two successive images is modeled and is compensated. Originality/value Thorough analysis of practical issues such as capturing the image from a non‐flat floor, pan/tilt motion of the camera and movement of the camera is presented.