Micro-Localization: High-Precision Mobile Robot Localization Using Microscopic Ground Texture
We demonstrate high-precision global localization using natural ground texture viewed through microscope optics, achieving localization in the tens-of-micrometers regime. For the planar ground texture localization problem considered here, we relate optical magnification and image-space localization uncertainty to physical localization precision. Leveraging this relationship, we then develop a microscope-based localization system that addresses the calibration, camera-modeling, and focus challenges introduced by high-magnification imaging. We evaluate this system across several surface textures using a calibrated precision gantry. Across 1,007 held-out queries per surface, the system local...
| Authors | Aaron Wilhelm, Marina de Albuquerque Marcon, Emith Uyanwatte et al. |
|---|---|
| Primary category | cs.RO |
| Published | 15 October 2026 |
| Last updated at source | 15 October 2026 |
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