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A new approach to robot location by house corners

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題名: A new approach to robot location by house corners 作者: H. L. Chou;W. H. Tsai

貢獻者: Department of Information Communication

關鍵詞: Robot location;Image analysis;Imaging geometry;Camera calibration;Position parameters;Direction parameters

日期: 1986-01

上傳時間: 2009-11-25T02:30:47Z 出版者: Asia University

摘要: A new approach to robot location in an in-house 3-D space using house corners as the standard mark is proposed. A monocular image of a house corner is first taken.

Image processing and numerical analysis techniques are then applied to find the equations of the three lines going through the corner point. Under the reasonable assumption that the distance from the camera to the ceiling is known in advance, the position of the robot, on which the camera is mounted, is finally uniquely determined according to 3-D imaging geometry. Experimental results with location error less than 5% on the average prove the feasibility of the proposed approach.

Error analysis useful for determining location precision is also included.

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