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.
Mobile robot navigation using vision and odometry
1994-01-01
486139 byte
Conference paper
Electronic Resource
English
Mobile Robot Navigation Using Vision and Odometry
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