Localisation based on invariant-models recognition by SYCLOP

We present a complete localisation method for mobile robots. We deal with low level image processing, model recognition through an invariant, matching with real noisy goniometrical observations and location estimation through a triangulation technique. We show how useful invariants may be in order to solve the matching problem. Moreover, we point out how invariants are powerful to discriminate features (in images) in order to provide a quick and reliable robot location. Our localisation technique is absolute, i.e. it needs neither a (exterior) position prediction nor a resetting technique. Finally, we present experimental results with a substantial set of real noisy images that demonstrate the reliability of our localisation method