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http://dx.doi.org/10.7746/jkros.2016.11.1.009

Geometric Formulation of Rectangle Based Relative Localization of Mobile Robot  

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)
Publication Information
The Journal of Korea Robotics Society / v.11, no.1, 2016 , pp. 9-18 More about this Journal
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.
Keywords
localization; camera calibration; rectangle reconstruction; coupled line cameras (CLC);
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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