30 July 1998 Self-location for indoor navigation of autonomous vehicles
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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.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Ettore Stella, Grazia Cicirelli, Antonella Branca, Arcangelo Distante, "Self-location for indoor navigation of autonomous vehicles", Proc. SPIE 3364, Enhanced and Synthetic Vision 1998, (30 July 1998); doi: 10.1117/12.317483; https://doi.org/10.1117/12.317483


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