WASET
	%0 Journal Article
	%A Seung-Hun Kim and  Changwoo Park
	%D 2013
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 81, 2013
	%T Localization for Indoor Service Robot Using Natural Landmark on the Ceiling
	%U https://publications.waset.org/pdf/16730
	%V 81
	%X In this paper, we present a localization of a mobile robot with localization modules which have two ceiling-view cameras in indoor environments. We propose two kinds of localization method. The one is the localization in the local space; we use the line feature and the corner feature between the ceiling and wall. The other is the localization in the large space; we use the natural features such as bulbs, structures on the ceiling. These methods are installed on the embedded module able to mount on the robot. The embedded module has two cameras to be able to localize in both the local space and the large spaces. The experiment is practiced in our indoor test-bed and a government office. The proposed method is proved by the experimental results.

	%P 1248 - 1251