In simultaneous localizing and mapping (SLAM), odometry and range sensor are generally used. There is a problem that errors are accumulated in odometry process. To address this problem, information of fluorescent light positions on the ceiling in a room, which is known in advance, is used to determine the absolute position and orientation of the robot. Using absolute fluorescent light information instead of incremental odometry information, the mapping accuracy is expected to be improved. A cleaner robot Roomba was adopted as a mobile robot, on which an omnidirectional camera for detecting the fluorescent lights and a laser range finder for detecting the layout of room are installed. Using this robot, the effectiveness of proposed mapping and localizing method was experimentally proven.
