Fast Algorithm for Location Determination of Mobile Robot: Vertical Line to Point Correspondences

이동로보트의 실시간 위치결정을 위한 수직선과 점 대응 알고리즘

It is one of the essential task to determine the absolute location of mobile robot during its navigation. In this paper we propose an algorithm to calculate the distance and orientation of camera from landmark through the visual image of stripe typed landmark. Exact closed form solution of camera location is obtained with the correspondences from vertical line on mark plane to the intersection point of projected line with horizontal axis of image plane. It needs only one line image information, so that location determination can be processed in real time.