计算机科学技术学报(英文版)
計算機科學技術學報(英文版)
계산궤과학기술학보(영문판)
COMPUTER JOURNAL OF SCIENCE AND TECHNOLOGY
2001年
2期
97-113
,共17页
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.
