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自动化学报 2005
基于单应性矩阵的室内移动机器人视觉定位研究, PP. 464-469 Keywords: Mobilerobot,visualpositioning,homographymatrix Abstract: ？Monocularvisualpositioningforindoormobilerobotisconcernedinthispaper.AnewvisualpositioningmethodbasedonhomographymatrixinEuclideanspaceisproposed.Itcancalculatethepositionandposeofthemobilerobotaccordingtotheintrinsicparametersofcameraandtwoposition-knownpointsinaplane.Itisverysimpleandlowcostincomputation.Theexperimentalresultsshowitseffectiveness.
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