Accurate position estimation is a fundamental requirement for mobile robot navigation. The positioning problem consists of keeping in real-time a reliable estimate of the robot location with respect to a reference frame in the environment. A fast landmark-based position estimation method is presented in this paper. The technique combines orientation of the mobile robot from a heading sensor (a compass) with observations of landmarks from a vision sensor (a CCD camera). Knowing the position of the landmarks in a fixed coordinate system and the orientation of the optical axis of the camera it's possible to recover the robot position by simple geometric considerations. The experiments made in our laboratory demonstrate the reliability of the method and suggest its applicability in the context of autonomous robot navigation.
Self-location for indoor navigation of autonomous vehicles
Enhanced and Synthetic Vision 1998 ; 1998 ; Orlando,FL,USA
Proc. SPIE ; 3364
30.07.1998
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Self-location for indoor navigation of autonomous vehicles [3364-33]
British Library Conference Proceedings | 1998
|Autonomous indoor 3D navigation
British Library Online Contents | 2015
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