A new approach to robot orientation by orthogonal lines

A novel method is proposed in which the image of three arbitrary orthogonal lines is used to determine the orientation of the robot. Such an image occurs frequently in natural in-house environments such as warehouses, factories, and offices. This method generalizes a previous method where a house-corner was used in the sense that, with the new method, the lines need not intersect at a single point. This generalization seems to be possible because the approach is algebraically simpler. The three-dimensional position of the robot can be derived from the orientation to the robot once the metric of the world is known. Such a metric can be obtained with the usual approach based on any real-world measurements that appear in the image, such as the distance from the camera to the ceiling