A cooperation strategy between odometry and a novel visual self-location method for indoor autonomous robot navigation is described. The strategy exploits the a-priori knowledge about the path that the vehicle is going to run, whether to model the odometer uncertainity in order to a-priori define the odometer re-calibration position or to verify the experimental uncertainity following the one modelled in order to update the re-calibration position. The visual self-location method capitalizes on the excellent angular resolution of CCD TV cameras in order to estimate the camera position and orientation and, therefore, the vehicle position.


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    Title :

    Mobile robot navigation using vision and odometry


    Contributors:
    Stella, E. (author) / Lovergine, F.P. (author) / Caponetti, L. (author) / Distante, A. (author)


    Publication date :

    1994-01-01


    Size :

    486139 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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