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Robot self-location by line correspondences
Hu, ZY; Lei, C; Tsui, HT
2001-03-01
发表期刊JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY
卷号16期号:2页码:97-113
文章类型Article
摘要This paper thoroughly investigates the problem of robot self-location by line correspondences. The original contributions are three-fold: (1) Obtain the necessary and sufficient condition to determine linearly the robot's pose by two line correspondences. (2) Show that if the space lines are vertical ones, it is impossible to determine linearly the robot's pose no matter how many line correspondences we have, and the minimum number of line correspondences is 3 to determine uniquely (but non-linearly) the robot's pose. (3) Show that if the space lines are horizontal ones, the minimum number of line correspondences is 3 for linear determination and 2 for non-linear determination of the robot's pose.
关键词Robot Self-location Visual Guided Navigation Line Correspondence Projection Plane Line Mapping Constraint
WOS标题词Science & Technology ; Technology
关键词[WOS]DETERMINING CAMERA PARAMETERS ; MOBILE ROBOT ; PERSPECTIVE PROJECTION
收录类别SCI
语种英语
WOS研究方向Computer Science
WOS类目Computer Science, Hardware & Architecture ; Computer Science, Software Engineering
WOS记录号WOS:000167726400001
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9818
专题09年以前成果
作者单位1.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100080, Peoples R China
2.Chinese Univ Hong Kong, Dept Elect Engn, Hong Kong, Hong Kong, Peoples R China
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GB/T 7714
Hu, ZY,Lei, C,Tsui, HT. Robot self-location by line correspondences[J]. JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY,2001,16(2):97-113.
APA Hu, ZY,Lei, C,&Tsui, HT.(2001).Robot self-location by line correspondences.JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY,16(2),97-113.
MLA Hu, ZY,et al."Robot self-location by line correspondences".JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY 16.2(2001):97-113.
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