In this paper we introduce a method for the localization of a low–cost mobile robot,based on the use of a monocular camera. We consider a robot moving in a bi–dimensionalenvironment, where some landmarks are placed in known positions. The acquired image of theenvironment is converted into a bird’s–eye view image, used to measure the distance of the robotfrom the landmarks, to compute the robot’s position by means of trilateration. The proposedstrategy is able to compute both the position and the orientation of the robot.

Bird's - Eye View Image for the Localization of a Mobile Robot by Means of Trilateration / Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare; A., Stefani. - ELETTRONICO. - 7:1(2010), pp. 223-228. ((Intervento presentato al convegno 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010 tenutosi a Lecce, Italia nel 6-8 Settembre 2010 [10.3182/20100906-3-it-2019.00040].

Bird's - Eye View Image for the Localization of a Mobile Robot by Means of Trilateration

SABATTINI, Lorenzo;SECCHI, Cristian;FANTUZZI, Cesare;
2010

Abstract

In this paper we introduce a method for the localization of a low–cost mobile robot,based on the use of a monocular camera. We consider a robot moving in a bi–dimensionalenvironment, where some landmarks are placed in known positions. The acquired image of theenvironment is converted into a bird’s–eye view image, used to measure the distance of the robotfrom the landmarks, to compute the robot’s position by means of trilateration. The proposedstrategy is able to compute both the position and the orientation of the robot.
7th IFAC Symposium on Intelligent Autonomous Vehicles 2010
Lecce, Italia
6-8 Settembre 2010
7
223
228
Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare; A., Stefani
Bird's - Eye View Image for the Localization of a Mobile Robot by Means of Trilateration / Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare; A., Stefani. - ELETTRONICO. - 7:1(2010), pp. 223-228. ((Intervento presentato al convegno 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010 tenutosi a Lecce, Italia nel 6-8 Settembre 2010 [10.3182/20100906-3-it-2019.00040].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/645404
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