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by Zhongfei Zhang, Richard Weiss, Allen R. Hanson
http://vis-www.cs.umass.edu/vislib/Papers/zhang/RobAut93.ps.gz
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Abstract:
This paper attacks the problem of automatic location of a mobile robot in an indoor environment. This may be used for calibration to locate the robot accurately before it starts to navigate, or it can be used in visual servoing as feed back to the controller which is maintaining the robot on a course. In this paper, we examine the problem in a special case, where the ground plane is assumed to be horizontal and there are two locally parallel side-lines available. This assumption holds in many indoor environments, such as hallways, where the system's success has been demonstrated. The algorithm uses geometric features such as vanishing points and line orientations. Both theoretical analysis and experimental results show that this algorithm works very robustly and accurately. 1
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