Abstract
A fast single-view method for determining the location of mobile robot in 3-D space is proposed. In the method, a tetragon mark is used as the reference target and no prerequisite condition is imposed in grabbing the image. The method utilizes the 3-D vector analysis technique and simple algebraic computation to achieve the fast location determination. Error analysis on the effects of sensor resolution in different distances and elevation angles is included. Experimental results show that the location determination time is about 0.22 s in a 12 MHz IBM compatible PC/AT computer system and the location error is less than 2% in average.
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