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Overview
Landmark Navigation
Landmarks are distinct features that a robot can recognize from its sensory input. Landmarks can be geometric shapes (e.g., rectangles, lines, circles), and they may include additional information
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(e.g., in the form of bar-codes). In general, landmarks have a fixed and known position, relative to which a robot can localize itself. Landmarks are carefully chosen to be easy to identify; for example,
there must be sufficient contrast to the background. Before a robot can use landmarks for navigation, the characteristics of the landmarks must be known and stored in the robot's memory. The main task
in localization is then to recognize the landmarks reliably and to calculate the robot's position.
In order to simplify the problem of landmark acquisition it is often assumed that the current
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robot position and orientation are known approximately, so that the robot only needs to look for landmarks in a limited area.
For this reason good odometry accuracy is a prerequisite for successful landmark
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detection. The picture below shows the general procedure for performing landmark-based positioning
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.
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approaches fall between landmark and map-based positioning (see Chap. 8). They use sensors to
sense the environment and then extract distinct structures that serve as landmarks for navigation in
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Indoor Map Representation
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