Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Position Estimation of a Mobile Robot using Distance Error Weight Function

Distance Error Weight Function을 이용한 이동 로봇의 위치 추정 시스템의 설계

  • Kho, Jee-Won (Dept. of Control and Instrumentation, Yuhan College) ;
  • Park, Jae-Joon (Dept. of Electronic Engineering Yonsei University) ;
  • Lee, Ki-Cheol (Dept. of Electronic Engineering Yonsei University) ;
  • Park, Mig-Non (Dept. of Electronic Engineering Yonsei University)
  • 고재원 (유한대학 제어계측과) ;
  • 박재준 (연세대학교 전자공학과) ;
  • 이기철 (연세대학교 전자공학과) ;
  • 박민용 (연세대학교 전자공학과)
  • Published : 1999.07.19
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Abstract

This paper suggests a position estimating algorithm using mono vision system with projective geometry method. Generally, 3-D information can not be easily extracted from mono vision system which is taken by a camera at a specific point. But this defect is overcome by adopting model-based image analysis and selecting lines and points on the ground as natural landmarks. And this paper suggests a method that estimates position from many natural landmarks by distance error weight function.

Keywords