A new approach to robot location using curved object surface patches is proposed. Any object that has a planar curve and a lateral surface perpendicular to the plane containing the curve can be used for robot location in this approach, as long as the shape of the planar curve is known in advance. Such object are commonly seen both in indoor and in outdoor environments. A convenient mathematical model is employed, based on which certain homogeneity properties of coordinate transformation can be easily utilized to reduce the difficulty of solving the location problem, resulting in the possibility of deriving analytic solutions.
Relation:
Proceedings of 1989 National Computer Symposium, Taipei, Taiwan, Republic of China
