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. ( 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010 Lecce, Italia 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 | |
|---|---|---|---|
|
1-s2.0-S1474667016350601-main.pdf
Open access
Tipologia:
VOR - Versione pubblicata dall'editore
Dimensione
731.8 kB
Formato
Adobe PDF
|
731.8 kB | Adobe PDF | Visualizza/Apri |
Pubblicazioni consigliate
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris
