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Geometric Formulation of Rectangle Based Relative Localization of Mobile Robot
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 Title & Authors
Geometric Formulation of Rectangle Based Relative Localization of Mobile Robot
Lee, Joo-Haeng; Lee, Jaeyeon; Lee, Ahyun; Kim, Jaehong;
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A rectangle-based relative localization method is proposed for a mobile robot based on a novel geometric formulation. In an artificial environment where a mobile robot navigates, rectangular shapes are ubiquitous. When a scene rectangle is captured using a camera attached to a mobile robot, localization can be performed and described in the relative coordinates of the scene rectangle. Especially, our method works with a single image for a scene rectangle whose aspect ratio is not known. Moreover, a camera calibration is unnecessary with an assumption of the pinhole camera model. The proposed method is largely based on the theory of coupled line cameras (CLC), which provides a basis for efficient computation with analytic solutions and intuitive geometric interpretation. We introduce the fundamentals of CLC and describe the proposed method with some experimental results in simulation environment.
localization;camera calibration;rectangle reconstruction;coupled line cameras (CLC);
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