Technical Reports (CIS)
Document Type
Technical Report
Subject Area
GRASP
Date of this Version
October 1990
Abstract
In this article we describe an algorithm for robot localization using visual landmarks. This algorithm determines both the correspondence between observed landmarks (in this case vertical edges in the environment) and a pre-loaded map, and the location of the robot from those correspondences. The primary advantages of this algorithm are its use of a single geometric tolerance to describe observation error, its ability to recognize ambiguous sets of correspondences, its ability to compute bounds on the error in localization, and fast performance. The current version of the algorithm has been implemented and tested on a mobile robot system. In several hundred trials the algorithm has never failed, and computes location accurate to within a centimeter in less than half a second.
Recommended Citation
Sami Atiya and Greg Hager, "Real-Time Vision-Based Robot Localization", . October 1990.
Date Posted: 20 November 2007
Comments
University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-90-79.