System for indoor localization of mobile robots by using machine vision

This paper presents a simple but accurate real-time system for indoor localization of mobile robots in known environment. It comprises fixed camera placed above the planar terrain, active landmarks placed on the top of the robots and image processing algorithm running on dedicated computer. The outputs from the system are position and orientation of active landmark. The system can be used standalone or as a part of another larger system. It is equipped with appropriate communication interface and can be used as the reference system for testing and evaluation of other localization systems.