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Robot self-location by line correspondences
Hu, ZY; Lei, C; Tsui, HT
Source PublicationJOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY
2001-03-01
Volume16Issue:2Pages:97-113
SubtypeArticle
AbstractThis 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.
KeywordRobot Self-location Visual Guided Navigation Line Correspondence Projection Plane Line Mapping Constraint
WOS HeadingsScience & Technology ; Technology
WOS KeywordDETERMINING CAMERA PARAMETERS ; MOBILE ROBOT ; PERSPECTIVE PROJECTION
Indexed BySCI
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Hardware & Architecture ; Computer Science, Software Engineering
WOS IDWOS:000167726400001
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9818
Collection09年以前成果
Affiliation1.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
Recommended Citation
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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