A visual localization method for mobile robot based on background subtraction and optical flow tracking

Shuai Li; Yajin Zhou; Max Q.H. Meng; Huawei Liang; Yangming Li; Zhuhong You; Wanming Chen; Xiao Liu; Kai Jiang; Qinglei Guo

doi:10.1109/WCICA.2008.4594506

A visual localization method for mobile robot based on background subtraction and optical flow tracking

Shuai Li, Yajin Zhou, Max Q.H. Meng, Huawei Liang, Yangming Li, Zhuhong You, Wanming Chen, Xiao Liu, Kai Jiang, Qinglei Guo

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

1 Citation (Scopus)

Abstract

In this paper, a newly vision-based localization method for mobile robots is presented. The cost of hardware for this localization system is very low. Based on background subtraction and optical flow tracking, the presented method overcomes the shortcoming of general background subtracting method--- being sensitive to noises and interferences of other mobile objects. Besides, the presented method is enough robust to find the new optical flow point after it is lost. Experiments reveal that this presented method is effective and is able to meet needs of localization for mobile robots.

Original language	English
Title of host publication	Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08
Pages	3870-3874
Number of pages	5
DOIs	https://doi.org/10.1109/WCICA.2008.4594506
Publication status	Published - 25 Sept 2008
Externally published	Yes
Event	7th World Congress on Intelligent Control and Automation, WCICA'08 - Chongqing, China Duration: 25 Jun 2008 → 27 Jun 2008

Conference

Conference	7th World Congress on Intelligent Control and Automation, WCICA'08
Country/Territory	China
City	Chongqing
Period	25/06/08 → 27/06/08

Keywords

Background subtraction
Localization
Mobile robot
Optical flow

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications

More information

10.1109/WCICA.2008.4594506

Cite this

Li, S., Zhou, Y., Meng, M. Q. H., Liang, H., Li, Y., You, Z., Chen, W., Liu, X., Jiang, K., & Guo, Q. (2008). A visual localization method for mobile robot based on background subtraction and optical flow tracking. In Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08 (pp. 3870-3874). Article 4594506 https://doi.org/10.1109/WCICA.2008.4594506

@inproceedings{7ef460fd8efe4eb5ace6ffe7e75bad9f,

title = "A visual localization method for mobile robot based on background subtraction and optical flow tracking",

abstract = "In this paper, a newly vision-based localization method for mobile robots is presented. The cost of hardware for this localization system is very low. Based on background subtraction and optical flow tracking, the presented method overcomes the shortcoming of general background subtracting method--- being sensitive to noises and interferences of other mobile objects. Besides, the presented method is enough robust to find the new optical flow point after it is lost. Experiments reveal that this presented method is effective and is able to meet needs of localization for mobile robots.",

keywords = "Background subtraction, Localization, Mobile robot, Optical flow",

author = "Shuai Li and Yajin Zhou and Meng, {Max Q.H.} and Huawei Liang and Yangming Li and Zhuhong You and Wanming Chen and Xiao Liu and Kai Jiang and Qinglei Guo",

year = "2008",

month = sep,

day = "25",

doi = "10.1109/WCICA.2008.4594506",

language = "English",

isbn = "9781424421145",

pages = "3870--3874",

booktitle = "Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08",

note = "7th World Congress on Intelligent Control and Automation, WCICA'08 ; Conference date: 25-06-2008 Through 27-06-2008",

}

Li, S, Zhou, Y, Meng, MQH, Liang, H, Li, Y, You, Z, Chen, W, Liu, X, Jiang, K & Guo, Q 2008, A visual localization method for mobile robot based on background subtraction and optical flow tracking. in Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08., 4594506, pp. 3870-3874, 7th World Congress on Intelligent Control and Automation, WCICA'08, Chongqing, China, 25/06/08. https://doi.org/10.1109/WCICA.2008.4594506

A visual localization method for mobile robot based on background subtraction and optical flow tracking. / Li, Shuai; Zhou, Yajin; Meng, Max Q.H. et al.
Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08. 2008. p. 3870-3874 4594506.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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T1 - A visual localization method for mobile robot based on background subtraction and optical flow tracking

AU - Li, Shuai

AU - Zhou, Yajin

AU - Meng, Max Q.H.

AU - Liang, Huawei

AU - Li, Yangming

AU - You, Zhuhong

AU - Chen, Wanming

AU - Liu, Xiao

AU - Jiang, Kai

AU - Guo, Qinglei

PY - 2008/9/25

Y1 - 2008/9/25

N2 - In this paper, a newly vision-based localization method for mobile robots is presented. The cost of hardware for this localization system is very low. Based on background subtraction and optical flow tracking, the presented method overcomes the shortcoming of general background subtracting method--- being sensitive to noises and interferences of other mobile objects. Besides, the presented method is enough robust to find the new optical flow point after it is lost. Experiments reveal that this presented method is effective and is able to meet needs of localization for mobile robots.

AB - In this paper, a newly vision-based localization method for mobile robots is presented. The cost of hardware for this localization system is very low. Based on background subtraction and optical flow tracking, the presented method overcomes the shortcoming of general background subtracting method--- being sensitive to noises and interferences of other mobile objects. Besides, the presented method is enough robust to find the new optical flow point after it is lost. Experiments reveal that this presented method is effective and is able to meet needs of localization for mobile robots.

KW - Background subtraction

KW - Localization

KW - Mobile robot

KW - Optical flow

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DO - 10.1109/WCICA.2008.4594506

M3 - Conference article published in proceeding or book

SN - 9781424421145

SP - 3870

EP - 3874

BT - Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08

T2 - 7th World Congress on Intelligent Control and Automation, WCICA'08

Y2 - 25 June 2008 through 27 June 2008

ER -

A visual localization method for mobile robot based on background subtraction and optical flow tracking

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Keywords

ASJC Scopus subject areas

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