Title :
Determining robot location by cylindrical object shapes
Author :
Lee, Jeng-Dao ; Chen, Chun-Hung ; Lee, Joon-Yeong ; You, Y.-C.
Author_Institution :
Dept. of Electr. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
fDate :
5/21/1992 12:00:00 AM
Abstract :
A fast single-view approach to determining the robot location by using a known-radius cylindrical object is proposed. In the approach, no prerequisite intrinsic camera parameters are imposed, and only 3D vector algebra is used in calculating the robot location. Therefore, alignment error can be avoided, the time of location determination is approximately 0.3 s, and the measurement error is less than 3% on average.
Keywords :
algebra; computer vision; mobile robots; picture processing; 3D vector algebra; cylindrical object shapes; fast single-view approach; image processing; machine vision; measurement error; robot location;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:19920662
