Graduation Year


Document Type




Degree Name

MS in Computer Engineering (M.S.C.P.)

Degree Granting Department

Computer Science and Engineering

Major Professor

Alfredo Weitzenfeld, Ph.D.

Committee Member

Marvin Andujar, Ph.D.

Committee Member

Shaun Canavan, Ph.D.


Positioning system, Autonomous Mobile Robots, Visual Localization Technique


Many strategies for localization have been proposed, the majority of which rely on distance calculations and estimates. The proposed approach is a method that combines image-based single-camera localization techniques and the principle of trilateration to perform localization in a known indoor environment. By using a camera, the proposed system can detect custom objects using object detection in an indoor environment and calculate an approximation of the camera’s position. To recognize the location, previous information such as the size of the environment and the coordinates and sizes of the objects in the environment are given as input to the system together with the distance to such objects that are calculated by a previously calibrated distance detection algorithm.

Included in

Robotics Commons