In this article a self-localization system for small mobile
robots based on inexpensive cameras and unobtrusive,
passive landmarks is presented and evaluated. The main
contribution is the experimental evaluation of the hybrid
field of view vision system for self-localization with artificial
landmarks. The hybrid vision system consists of an
omnidirectional, upward-looking camera with a mirror,
and a typical, front-view camera. This configuration is
inspired by the peripheral and foveal vision co-operation
in animals. We demonstrate that the omnidirectional
camera enables the robot to detect quickly landmark
candidates and to track the already known landmarks
in the environment. The front-view camera guided by
the omnidirectional information enables precise measurements
of the landmark position over extended distances.
The passive landmarks are based on QR codes,
which makes possible to easily include in the landmark
pattern additional information relevant for navigation.
We present evaluation of the positioning accuracy of the
system mounted on a SanBot Mk II mobile robot. The experimental
results demonstrate that the hybrid field of
view vision system and the QR code landmarks enable
the small mobile robot to navigate safely along extended
paths in a typical home environment.
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