Robot Localization Using A Computer Vision Sextant - Robotics Institute Carnegie Mellon University

Robot Localization Using A Computer Vision Sextant

Fabio Cozman and Eric Krotkov
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 106 - 111, May, 1995
View Publication

Abstract

This paper explores the possibility of using Sun altitude for localization of a robot in totally unknown territory. A set of Sun altitudes is obtained by processing a sequence of time-indexed images of the sky. Each altitude constrains the viewer to a circle on the surface of a celestial body, called the circle of equal altitude. A set of circles of equal altitude can be intersected to yield viewer position. We use this principle to obtain the position on Earth. Since altitude measurements are corrupted by noise, a least-square estimate is numerically calculated from the sequence of altitudes. The paper discusses the necessary theory for Sun-based localization, the technical issues of camera calibration and image processing, and presents preliminary results with real data.

BibTeX

@conference{Cozman-1995-13879,
author = {Fabio Cozman and Eric Krotkov},
title = {Robot Localization Using A Computer Vision Sextant},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1995},
month = {May},
volume = {1},
pages = {106 - 111},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.