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ICRA
1995
IEEE

Robot Localization Using a Computer Vision Sextant

14 years 3 months ago
Robot Localization Using a Computer Vision Sextant
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 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.
Fabio Gagliardi Cozman, Eric Krotkov
Added 26 Aug 2010
Updated 26 Aug 2010
Type Conference
Year 1995
Where ICRA
Authors Fabio Gagliardi Cozman, Eric Krotkov
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