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Proceedings Paper

Absolute external mobile robot localization using a single image
Author(s): Sara Fleury; Thierry Baron
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Paper Abstract

We present in this paper a fast method to determine the position and orientation of a mobile robot. An external vision system covering the work area is used to localize the robot. A known pattern composed of coplanar points fixed on the robot is extracted from a single image and used to locate the robot in 3D. Assuming that the robot's movements are locally planar, the extracted points are projected on the pattern's plane, estimated from the previous localization. An iterative loop to match pattern points and to localize the pattern is then performed. From four identified points, a 3D localization is possible.

Paper Details

Date Published: 4 May 1993
PDF: 13 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143785
Show Author Affiliations
Sara Fleury, LAAS-CNRS (France)
Thierry Baron, LAAS-CNRS (France)


Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

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