Self-localization of a mobile robot without camera calibration using projective invariants

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In this paper, we propose a visual-based self-localization algorithm of an indoor mobile robot, The algorithm does not require calibration and can be worked with only a single image by using the projective invariant relationship between natural landmarks. The position of the robot is determined by relative positioning. Also, the method does not require previous information of the position of the robot. The robustness and feasibility of our algorithm have been demonstrated through experiments in hallway environments. (C) 2000 Elsevier: Science B.V. All rights reserved.
Publisher
ELSEVIER SCIENCE BV
Issue Date
2000-01
Language
English
Article Type
Article
Citation

PATTERN RECOGNITION LETTERS, v.21, no.1, pp.45 - 60

ISSN
0167-8655
URI
http://hdl.handle.net/10203/20683
Appears in Collection
EE-Journal Papers(저널논문)
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