Real time determination of the location and speed of mobile robots running on non-planar surfaces

Corre, J.F. Le; Garcia, Gaëtan

doi:10.1109/robot.1992.220051

Cited by 10 publications

(2 citation statements)

References 4 publications

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“…[1] [6] {9J) from time to time. Real time localization in position and orientation with exteroceptive sensors was also achieved in strongly structured environments [1 1] [2].…”

Section: Introductionmentioning

confidence: 99%

<title>Absolute external mobile robot localization using a single image</title>

Fleury¹,

Baron²

1993

SPIE Proceedings

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We present in this paper a fasi method to delermine the posiiion and orieniaiion of a mobile robol. An external vision system covering the work area is used o localize the roboL A known paflern composed of coplanar poinis fixed on the robot is exiraced from a single image and used o locate Ihe robot in 3D. Assuming iha the robol's movemenis are locally planar, the exiracled poinis are projecled on ike paUern's plane, estimaied from the previous localization. An iterative ioop to match paflern points and to localize the paUern is then performed. From four idenlified points, a 3D localization is possible.

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“…[1] [6] {9J) from time to time. Real time localization in position and orientation with exteroceptive sensors was also achieved in strongly structured environments [1 1] [2].…”

Section: Introductionmentioning

confidence: 99%

<title>Absolute external mobile robot localization using a single image</title>

Fleury¹,

Baron²

1993

SPIE Proceedings

View full text Add to dashboard Cite

show abstract

“…Before the robot moves, we compute X S 0 using a triangulation method [1] and angles from the CCD sensor. The initial covariance P 0 is a diagonal matrix, the diagonal of which is [ ] One can remark that the model noise on (x,y,θ) is equal to zero.…”

Section: Real Outdoor Experimentsmentioning

confidence: 99%