<title>Absolute external mobile robot localization using a single image</title>

摘要

We present in this paper a fast method to determine the position and orientation of a mobile robot. An external vision system covering the work area is used to localize the robot. A known pattern composed of coplanar points fixed on the robot is extracted from a single image and used to locate the robot in 3D. Assuming that the robot's movements are locally planar, the extracted points are projected on the pattern's plane, estimated from the previous localization. An iterative loop to match pattern points and to localize the pattern is then performed. From four identified points, a 3D localization is possible.