By Topic

The vision-based metric self-localization of indoor mobile robot using projective geometry

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Fang Qiang ; Dept. of Mech. Eng., South China Univ. of Technol., Guangzhou, China ; Xie Cunxi

This paper addresses the vision-based self-localization of an indoor service robot worked with a single vehicular camera. Based on the principle of projective geometry and the extended virtual image plane, the transverse position and orientation of robot is calculated through considering the image plane and floor plane as a whole. The longitudinal position is acquired by using the monocular stereovision method based on distance constraint along feature points of nature or artificial landmark. After a simple off-line process about landmark, the service robot can work well in a building. The validity and feasibility of the approach have been demonstrated through experiments.

Published in:

Signal Processing, 2004. Proceedings. ICSP '04. 2004 7th International Conference on  (Volume:2 )

Date of Conference:

31 Aug.-4 Sept. 2004