ROBOT SELF LOCATION BASED ON VERTICAL AND HORIZONTAL LINES
Yang Yi · Chinese Journal of Computers · 1999
Vertical and horizontal lines have been privileged for robot self location in the literature due to their wide availability in robot working environments. However, in this work, the vertical and horizontal lines provide less useful information for the determination of the robot's pose. More specifically, these conclusion are showed: (1) When the space lines are all vertical ones, it is impossible to determine linearly the robot's pose no matter how many line correspondences you have, and the minimum number of line correspondences is 3 to determine uniquely (but non linearly) the robot's pose. (2) When the space lines are all horizontal ones, the minimum number of line correspondences is 3 for linear and non linear determination of the robot's pose. Moreover, this paper obtains the necessary and sufficient condition to determine the robot's pose by three line correspondences.