Abstract

Self-Localization is a crucial task for mobile robots. It is not only a requirement
for auto navigation but also provides contextual information to support
human robot interaction (HRI). In this paper we present an active vision-based
localization method for integration in a complex robot system to work in human
interaction scenarios (e.g. home-tour) in a real world apartment. The holistic
features used are robust to illumination and structural changes in the scene. The
system uses only a single pan-tilt camera shared between different vision applications
running in parallel to reduce the number of sensors. Additional information
from other modalities (like laser scanners) can be used, profiting of an integration
into an existing system. The camera view can be actively adapted and the
evaluation showed that different rooms can be discerned.