Micro-Localization: High-Precision Mobile Robot Localization Using Microscopic Ground Texture

Aaron Wilhelm, Marina de Albuquerque Marcon, Emith Uyanwatte, Nils Napp

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 localizes every query and achieves translation RMSEs of 28$-$73 $μ$m. Independent photometric registration agrees with the feature-based localization estimates to within approximately 9 $μ$m RMSE. We further demonstrate localization on a low-cost mobile robot using the gantry-collected maps, and also show that the system can resolve micrometer-scale displacement caused by thermal expansion. These results show that microscopic natural surface texture can bring mobile localization into a precision…