%0 Journal Article
	%A Xing Xiong and  Byung-Jae Choi
	%D 2013
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 73, 2013
	%T Estimation of Relative Self-Localization Based On Natural Landmark and an Improved SURF
	%U https://publications.waset.org/pdf/6206
	%V 73
	%X It is important for an autonomous mobile robot to know
where it is in any time in an indoor environment. In this paper, we
design a relative self-localization algorithm. The algorithm compare
the interest point in two images and compute the relative displacement
and orientation to determent the posture. Firstly, we use the SURF
algorithm to extract the interest points of the ceiling. Second, in order
to reduce amount of calculation, a replacement SURF is used to extract
orientation and description of the interest points. At last, according to
the transformation of the interest points in two images, the relative
self-localization of the mobile robot will be estimated greatly.
	%P 128 - 132