ROBOT SELF-LOCATION USING VISUAL REASONING RELATIVE TO A SINGLE TARGET OBJECT

This paper presents a computationally straightforward method for deter mining the location of a camera that is mounted on a robot. The proced ure consists of observing a sphere upon which two great circles have b een circumscribed and computing the location and orientation of the ca mera based upon projections of the primary features in the image plane . Distance from the standard mark is based on the size of the projecte d sphere, whereas location of the camera is based on the displacements of the great circles relative to the center of the projected sphere. The procedure for determining the location of the camera involves solv ing only linear equations and is computationally simple. Results demon strating the utility of the method with both simulated data and actual images are presented.