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.File | Dimensione | Formato | |
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