MOBILE ROBOT POSITION DETERMINATION USING VISUAL LANDMARKS

This paper is concerned with the problem of determining the position o f a mobile vehicle during navigation. In order to achieve this objecti ve a multisensor navigation system for self location of the robot has been developed. By tracking a few known landmarks with a vision module , the system is able to monitor continuously its position and to integ rate these estimates with the measures provided by the vehicle odomete rs. This paper describes in detail the vision module used by the navig ation system.