Determining the absolute orientation in a corridor using projective geometry and active vision

@article{Segvic2001DeterminingTA,
  title={Determining the absolute orientation in a corridor using projective geometry and active vision},
  author={Sinisa Segvic and Slobodan Ribaric},
  journal={IEEE Trans. Industrial Electronics},
  year={2001},
  volume={48},
  pages={696-710}
}
The capability of a mobile robot to determine its position in the environment (self-localization) is a prerequisite for achieving autonomous navigation. An approach is proposed for determining the absolute orientation of an autonomous robot in a system of corridors, based on the projective geometry and active computer vision. In the proposed approach, the common direction of longitudinal corridor edges is inferred by detecting the vanishing point of the corresponding straight line segments in… CONTINUE READING
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