Robot location using single views of rectangular shapes

ASIA unversity > 資訊學院 > 資訊傳播學系 > 期刊論文 > Item 310904400/4327

jsp.display-item.identifier=請使用永久網址來引用或連結此文件: http://asiair.asia.edu.tw/ir/handle/310904400/4327

题名:	Robot location using single views of rectangular shapes
作者:	R. Lee;P. C. Lu;W. H. Tsai
贡献者:	Department of Information Communication
日期:	1990
上传时间:	2009-11-25 02:30:53 (UTC+0)
出版者:	Asia University
摘要:	In man-made environments, rectangular shapes can be seen almost everywhere. It is thus convenient to use rectangular shapes for robot location, which is equivalent to the problem of close-range space resection encountered in photogrammetric engineering. A new method for robot location using mutually parallel or perpendicular line pairs in observed rectangular shape images is proposed. From a monocular image of any object with at least a rectangular shape, image processing and numerical analysis techniques are applied to extract the projection characteristics of each corner point in the rectangular shape. The position and orientation parameters of a camera mounted on the robot can then be computed for robot location. Multiple rectangular shapes can be utilized to promote the accuracy of the parameters. Partial rectangular shapes also can be utilized. A major merit of the method is that the solution can be uniquely and analytically determined without iterative computation. Experimental results show the feasibility of the proposed approach. Error analysis useful for determining location precision is also included.
關聯:	Photogrammetric Engineering and Remote Sensing 56 (2): 231-238
显示于类别:	[資訊傳播學系] 期刊論文

文件中的档案:

档案	描述	大小	格式	浏览次数
310904400-4327.doc		31Kb	Microsoft Word	380	检视/开启

在ASIAIR中所有的数据项都受到原著作权保护.