A position estimation system for mobile robots using a monocular image of a 3-D landmark

  title={A position estimation system for mobile robots using a monocular image of a 3-D landmark},
  author={Kyoung Chul Koh and Jae Seon Kim and Hyung Suck Cho},
This paper presents an absolute position estimation system for a mobile robot moving on a flat surface. In this system, a 3-D landmark with four coplanar points and a non-coplanar point is utilized to improve the accuracy of position estimation and to guide the robot during navigation. Applying theoretical analysis, we investigate the image sensitivity of the proposed 3-D landmark compared with the conventional 2-D landmark. In the camera calibration stage of the experiments, we employ a neural… CONTINUE READING
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