Visual beacons for robot localisation
نویسنده
چکیده
This paper presents a system for localising a camera using artiicial beacons placed in the environment. The system uses colour ratios to hypothesise the location of beacons and then tests each hypothesis by comparing the image data with the predicted appearance of the beacon. The beacons are planar and use three colours; their pattern, shown to be unique, is highly asymmetric and (single) fault tolerant. Experiments show the system to be robust and accurate.
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تاریخ انتشار 2007