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    ASIA unversity > 資訊學院 > 資訊傳播學系 > 期刊論文 >  Item 310904400/4340

    Please use this identifier to cite or link to this item: http://asiair.asia.edu.tw/ir/handle/310904400/4340

    Title: Determination of robot locations by common object shapes
    Authors: S. Y. Chen;W. H. Tsai
    Contributors: Department of Information Communication
    Keywords: Robotics;Localization;Image processing;Numerical method;Experimental result;Error analysis
    Date: 1991
    Issue Date: 2009-11-25 10:30:57 (UTC+8)
    Publisher: Asia University
    Abstract: A new approach to the determination of robot locations by common object shapes is proposed. Any object that has a polygon-shaped top and a lateral surface perpendicular to the top can be used for robot location in the approach, as long as the top shape is known in advance. Such objects are seen frequently both in indoor and outdoor environments. In addition, the solution provided by the approach can be computed analytically. These merits make the proposed approach more practical for general applications than other approaches using specially designed marks of requiring iterative computation. From a monocular image of an object, image processing and numerical analysis techniques are applied to extract the projection characteristics of the polygon corners on the object top surface, from which the position and the orientation parameters of a camera-mounted robot can be determined.
    Relation: IEEE Transactions on Robotics and Automation 7 (1): 149-156
    Appears in Collections:[資訊傳播學系] 期刊論文

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