Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1999.07g
- /
- Pages.3048-3050
- /
- 1999
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)
- Published : 1999.07.19
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