Robot Localization Using A Computer Vision Sextant

Fabio Cozman and Eric Krotkov
IEEE International Conference on Robotics and Automation, May, 1995, pp. 106-111.


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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.

Notes

Text Reference
Fabio Cozman and Eric Krotkov, "Robot Localization Using A Computer Vision Sextant," IEEE International Conference on Robotics and Automation, May, 1995, pp. 106-111.

BibTeX Reference
@inproceedings{Cozman_1995_1746,
   author = "Fabio Cozman and Eric Krotkov",
   title = "Robot Localization Using A Computer Vision Sextant",
   booktitle = "IEEE International Conference on Robotics and Automation",
   pages = "106-111",
   month = "May",
   year = "1995",
   volume = "1",
}