NDLI: Position estimation for an autonomous mobile robot in an outdoor environment

Content Provider	IEEE Xplore Digital Library
Author	Talluri, R. Aggarwal, J.K.
Copyright Year	1989
Abstract	The position estimation problem for an autonomous land vehicle navigating in an unstructured mountainous terrain is solved. A digital elevation map (DEM) of the area is assumed to be given. It is also assumed that the robot is equipped with a camera that can be panned and tilted, a compass, and an altimeter. No recognizable landmarks are assumed to be present, and the robot is not assumed to have an initial estimate of its position. The solution structures the problem as a constrained search paradigm by searching the DEM for the possible robot location. The shape and position of the horizon line in the image plane and the known camera geometry of the perspective projection are used as parameters. Geometric constraints are used to prune the search space significantly. The algorithm is made robust to errors in the imaging process by accounting for worst case errors. The approach is tested using real terrain data of areas in Colorado and Texas.<>
Starting Page	573
Ending Page	584
Page Count	12
File Size	1114074
File Format	PDF
ISSN	1042296X
Volume Number	8
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1992-10-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot vision systems Cameras Land vehicles Navigation Orbital robotics Shape Computational geometry Robustness Testing
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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