標題: DETERMINATION OF ROBOT LOCATIONS BY COMMON OBJECT SHAPES
作者: CHEN, SY
TSAI, WH
資訊科學與工程研究所
Institute of Computer Science and Engineering
公開日期: 1-二月-1991
摘要: A new approach to the determination of robot locations by common object shapes is proposed. Any object that has a polygon-shaped top and a lateral surface perpendicular to the top can be used for robot location in the approach, as long as the top shape is known in advance. Such objects are seen frequently both in indoor and outdoor environments. In addition, the solution provided by the approach can be computed analytically. These merits make the proposed approach more practical for general applications than other approaches using specially designed marks or requiring iterative computation. From a monocular image of an object, image processing and numerical analysis techniques are applied to extract the projection characteristics of the polygon corners on the object top surface, from which the position and the orientation parameters of a camera-mounted robot can be determined. Experimental results with location errors less than 5% prove the feasibility of the proposed approach. Error analysis that is useful for choosing better viewing angles to get more accurate location results is also included.
URI: http://dx.doi.org/10.1109/70.68078
http://hdl.handle.net/11536/3867
ISSN: 1042-296X
DOI: 10.1109/70.68078
期刊: IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
Volume: 7
Issue: 1
起始頁: 149
結束頁: 156
顯示於類別:期刊論文


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