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이동 로봇의 상대적 위치 추정을 위한 직사각형 기반의기하학적 방법
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- Issue Date
- 2016-02
- Citation
- 로봇학회논문지, v.11, no.1, pp.9-18
- ISSN
- 1975-6291
- Publisher
- 한국로봇학회(KROS)
- Language
- Korean
- Type
- Journal Article
- Abstract
- A rectangle-based relative localization method is proposed for a mobile robot based on a novel geometric formulation. In an artificial environment where a mobile robot navigates, rectangular shapes are ubiquitous. When a scene rectangle is captured using a camera attached to a mobile robot, localization can be performed and described in the relative coordinates of the scene rectangle. Especially, our method works with a single image for a scene rectangle whose aspect ratio is not known. Moreover, a camera calibration is unnecessary with an assumption of the pinhole camera model. The proposed method is largely based on the theory of coupled line cameras (CLC), which provides a basis for efficient computation with analytic solutions and intuitive geometric interpretation. We introduce the fundamentals of CLC and describe the proposed method with some experimental results in simulation environment.