| Study on Visual Positioning Based on Homography for Indoor Mobile Robot |
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| 作者姓名： | XU De TU Zhi-Guo TAN Min |
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| 作者单位： | Laboratory of Complex Systems and Intelligence Science，Institute of Automation，Chinese Academy of Sciences，Beijing 100080 |
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| 基金项目： | Supported by the National High Technology Research and Development Program of P,R.China (2002AA422160) |
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| 摘 要： | Monocular visual positioning for indoor mobile robot is concerned in this paper.A new visual positioning method based on homography matrix in Euclidean space is proposed.It can calculate the position and pose of the mobile robot according to the intrinsic parameters of camera and two position-known points in a plane.It is very simple and low cost in computation.The experimental results show its effectiveness.
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Study on Visual Positioning Based on Homography for Indoor Mobile Robot |
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| XU De TU Zhi-Guo TAN Min.Study on Visual Positioning Based on Homography for Indoor Mobile Robot[J].Acta Automatica Sinica,2005(3). |
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| Authors: | XU De TU Zhi-Guo TAN Min |
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| Abstract: | Monocular visual positioning for indoor mobile robot is concerned in this paper.A new visual positioning method based on homography matrix in Euclidean space is proposed.It can calculate the position and pose of the mobile robot according to the intrinsic parameters of camera and two position-known points in a plane.It is very simple and low cost in computation.The experimental results show its effectiveness. |
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| Keywords: | Mobile robot visual positioning homography matrix |
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