TY - JOUR T1 - Localization of Mobile Robots Using Odometry and an External Vision Sensor JF - Sensors Y1 - 2010 A1 - Daniel Pizarro A1 - Manuel Mazo A1 - Enrique Santiso A1 - Marta Marron A1 - David Jimenez A1 - Santiago Cobreces A1 - Cristina Losada-GutiƩrrez KW - artificial vision KW - Intelligent spaces KW - robotics AB - This paper presents a sensor system for robot localization based on the information obtained from a single camera attached in a fixed place external to the robot. Our approach firstly obtains the 3D geometrical model of the robot based on the projection of its natural appearance in the camera while the robot performs an initialization trajectory. This paper proposes a structure-from-motion solution that uses the odometry sensors inside the robot as a metric reference. Secondly, an online localization method based on a sequential Bayesian inference is proposed, which uses the geometrical model of the robot as a link between image measurements and pose estimation. The online approach is resistant to hard occlusions and the experimental setup proposed in this paper shows its effectiveness in real situations. The proposed approach has many applications in both the industrial and service robot fields. PB - MDPI - Open Access Publishing VL - 10 UR - http://www.mdpi.com/1424-8220/10/4/3655/ IS - 4 ER -