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Pattern Recoonition, Vol. 28, No. 2, pp. 125 134, 1995 Elsevier Science Ltd
 

Summary: Pergamon
Pattern Recoonition, Vol. 28, No. 2, pp. 125 134, 1995
Elsevier Science Ltd
Copyright © 1995Pattern Recognition Society
Printed in Great Britain. All rights reserved
0031 3203/95 $9.50+.00
0031-3203(94)001191-3
ROBOT SELF-LOCATION USING VISUAL REASONING
RELATIVE TO A SINGLE TARGET OBJECT~
MICHAEL MAGEE:~ and J. K. AGGARWAL§
:~Computer ScienceDepartment, University of Wyoming,Laramie,WY 82071-3682,U.S.A.
§ElectricalEngineeringDepartment, Universityof Texas,Austin,TX 78712,U.S.A.
(Received 27 September 1993;in revisedform 25 July 1994;receivedfor publication 5 August 1994)
Abstract--Thispaper presents a computationally straightforward method for determining the location of
a camera that is mounted on a robot. The procedure consists of observinga sphere upon whichtwo great
circles have been circumscribed and computing the location and orientation of the camera based upon
projections of the primary features in the imageplane. Distance from the standard mark is based on the
sizeofthe projectedsphere,whereaslocation ofthe camera is based on the displacementsofthe great circles
relative to the center of the projected sphere. The procedure for determining the location of the camera
involvessolving only linear equations and is computationally simple.Results demonstrating the utility of

  

Source: Aggarwal, J. K. - Department of Electrical and Computer Engineering, University of Texas at Austin

 

Collections: Computer Technologies and Information Sciences; Engineering