A lateral position and orientation estimating algorithm for the navigation of the vision-based wheeled mobile robot in a corridor

We present lateral position and orientation estimating algorithm for the navigation of vision-based wheeled mobile robot (WMR). We take the ceiling lamps in a corridor as landmark. We make up two spaces for the slope of the lamp's line and the position of vanishing point. The slop of the lamp's line and the position of vanishing point are produced by simple image processing algorithm. After then, we derive two approximate formulas from those two spaces. Using these formulas, we estimate the lateral position and the orientation of the wheeled mobile robot (WMR) for navigation.