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Journal of Robotics
Volume 2011, Article ID 548042, 12 pages
Research Article

Monocular Vision-Based Robot Localization and Target Tracking

Department of Electrical Engineering, National Chiao Tung University, 1001 University Road, Hsinchu 300, Taiwan

Received 14 June 2011; Revised 15 October 2011; Accepted 16 October 2011

Academic Editor: Huosheng Hu

Copyright © 2011 Bing-Fei Wu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a vision-based technology for localizing targets in 3D environment. It is achieved by the combination of different types of sensors including optical wheel encoders, an electrical compass, and visual observations with a single camera. Based on the robot motion model and image sequences, extended Kalman filter is applied to estimate target locations and the robot pose simultaneously. The proposed localization system is applicable in practice because it is not necessary to have the initializing setting regarding starting the system from artificial landmarks of known size. The technique is especially suitable for navigation and target tracing for an indoor robot and has a high potential extension to surveillance and monitoring for Unmanned Aerial Vehicles with aerial odometry sensors. The experimental results present “cm” level accuracy of the localization of the targets in indoor environment under a high-speed robot movement.