REAL-TIME VISION-BASED ROBOT LOCALIZATION

被引：92

作者：

ATIYA, S ^{[1
]}

HAGER, GD ^{[1
]}

机构：

[1] FRAUNHOFER INST INFORMAT DATENVERARBEITUNG,W-7500 KARLSRUHE 1,GERMANY

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1993年 / 9卷 / 06期

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/70.265922

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes an algorithm for determining robot location from visual landmarks. This algorithm determines both the correspondence between observed landmarks (in this case vertical edges in the environment) and a stored map, and computes the location of the robot using those correspondences. The primary advantages of this algorithm are its use of a single geometric tolerance to describe observation error, its ability to recognize ambiguous sets of correspondences, its ability to compute bounds on the error in localization, and fast execution. The algorithm has been implemented and tested on a mobile robot system. In several hundred trials it has never failed, and computes location accurate to within a centimeter in less than 0.5 s.

引用

页码：785 / 800

页数：16

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