NDLI: Recovering the position and orientation of a mobile robot from a single image of identified landmarks

Content Provider	IEEE Xplore Digital Library
Author	Wenfei Liu Yu Zhou
Copyright Year	2007
Description	Author affiliation: State Univ. of New York at Stony Brook, Stony Brook (Wenfei Liu; Yu Zhou)
Abstract	This paper introduces a novel self-localization algorithm for mobile robots, which recovers the robot position and orientation from a single image of identified landmarks taken by an onboard camera. The visual angle between two landmarks can be derived from their projections in the same image. The distances between the optical center and the landmarks can be calculated from the visual angles and the known landmark positions based on the law of cosine. The robot position can be determined using the principle of trilateration. The robot orientation is then computed from the robot position, landmark positions and their projections. Extensive simulation has been carried out. A comprehensive error analysis provides the insight on how to improve the localization accuracy.
Starting Page	1065
Ending Page	1070
File Size	295305
Page Count	6
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399059
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Distance measurement Closed-form solution Global Positioning System Radio frequency RF signals Indoor environments Iterative methods Robustness Iterative algorithms
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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