Robot location determination in a complex environment by multiple marks

摘要

A new approach of using multiple marks for determining three-dimensional robot location in a complex environment, which may be a composed space or a space with rough terrain, is proposed. One principal idea is to pre-locate a large enough number of marks with different labels at different planar places that at least one mark can be seen by the camera, wherever the robot is in the working space. The other concept is that by integrating the pattern recognition technique with the three-dimensional geometrical transformation method, the system can determine the robot location without the need of fitting any prerequisite alignment. This novel property enables the robot to work in a space with rough terrain. Experimental results from using three marks in a space composed of two warehouses have shown that the location error is less than 3% on average.