The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Geometric Formulation of Rectangle Based Relative Localization of Mobile Robot

이동 로봇의 상대적 위치 추정을 위한 직사각형 기반의 기하학적 방법

  • Lee, Joo-Haeng (Human Robot Interaction Lab, ETRI, Computer Software, Korea University of Science and Technology) ;
  • Lee, Jaeyeon (Human Robot Interaction Lab, ETRI) ;
  • Lee, Ahyun (Human Robot Interaction Lab, ETRI) ;
  • Kim, Jaehong (Human Robot Interaction Lab, ETRI)
  • Received : 2015.10.18
  • Accepted : 2016.01.14
  • Published : 2016.02.29
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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.

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References

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