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Robot self-location by line correspondences

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Abstract

This paper thoroughly investigates the problem of robot self-location by line correspondences. The original contributions are three-fold: (1) Obtain the necessary and sufficient condition to determine linearly the robot’s pose by two line correspondences. (2) Show that if the space lines are vertical ones, it is impossible to determine linearly the robot’s pose no matter how many line correspondences we have, and the minimum number of line correspondences is 3 to determine uniquely (but non-linearly) the robot’s pose. (3) Show that if the space lines are horizontal ones, the minimum number of line correspondences is 3 for linear determination and 2 for non-linear determination of the robot’s pose.

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Author information

Authors and Affiliations

  1. National Laboratory of Pattern Recognition, Institute of Automation, The Chinese Academy of Sciences, 100080, Beijing, P. R. China

    Hu Zhanvi & Lei Cheng

  2. Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, P.R. China

    Tsui Hung Tat

Authors
  1. Hu Zhanvi
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  2. Lei Cheng
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  3. Tsui Hung Tat
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Corresponding author

Correspondence to Hu Zhanvi.

Additional information

Project supported by the National ‘863’ High-Tech Programme of China under the grant No. 863-512-9915-01 and the National Natural Science Foundation of China under the grant Nos. 69975021, 60033010.

HU Zhanyi was born in 1961. He received his B.S. degree in automation from the North China University of Technology in 1985, the Ph.D. degree (Docteur d’Etat) in computer vision from the University of Liege, Belgium, in 1993. Since 1993, he has been with the Institute of Automation, The Chinese Academy of Sciences, where he is now a professor. From May 1997 to May 1998, he also acted as a visiting scholar of The Chinese University of Hong Kong. His research interests are robot vision, which include camera calibration and 3D reconstruction, active vision, geometric primitive extraction, vision guided robot navigation, and image based modeling and rendering.

LEI Cheng was born in 1973. He obtained his B.E. and M.S. degrees both from the Beijing Institute of Technology in 1995 and 1998 respectively. Now he is a Ph.D. candidate of National Laboratory of Pattern Recognition, The Chinese Academy of Sciences. His current research interests include computer vision, vision systems for mobile robots, and genetic algorithm.

TSUI Hung Tat obtained his B.Sc. (Eng.) degree in electrical engineering from the University of Hong Kong in 1964 and his M.Sc. degree from the University of Manchester, Institute of Science and Technology in 1965 and his Ph.D. degree from the University of Birmingham in 1969. He joined the Mathematical Section of the Central Electricity Research Laboratories at Leatherhead, U.K. as a research officer in 1969. At the end of 1971, he joined the Department of Electronics (later became the Department of Electronic Engineering) of The Chinese University of Hong Kong. His current research interests include computer vision, active vision, vision systems for mobile robots, physics based vision, 3D object recognition, shape from motion.

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Hu, Z., Lei, C. & Tsui, H.T. Robot self-location by line correspondences. J. Comput. Sci. & Technol. 16, 97–113 (2001). https://doi.org/10.1007/BF02950415

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  • DOI: https://doi.org/10.1007/BF02950415

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