The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Bird's-Eye View Image for the Localization of a Mobile Robot by Means of Trilateration

Lorenzo Sabattini
University of Bologna
Italy

Cristian Secchi
University of Modena and Reggio Emilia
Italy

Cesare Fantuzzi
University of Modena and Reggio Emilia
Italy

Alessandro Stefani
University of Modena and Reggio Emilia
Italy

Abstract:
In this paper we introduce a method for the localization of a low-cost mobile robot, based on the use of a monocular camera. We consider a robot moving in a bi-dimensional environment, where some landmarks are placed in known positions. The acquired image of the environment is converted into a bird's-eye view image, used to measure the distance of the robot from the landmarks, to compute the robot's position by means of trilateration. The proposed strategy is able to compute both the position and the orientation of the robot.

 

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