Robot Self-Location by Line Correspondences

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.

基于垂线和水平线的机器人自定位方法

对基于垂线和水平线的机器人自定位问题进行了系统的研究．所得主要结论如下： （１） 当空间直线都垂直于机器人运动平面时，机器人的位置与朝向无法线性求解；（２） 当空间直线都平行于机器人运动平面时，至少需要三组直线对应对（一组直线对应对由一条空间直线和对应的图像直线构成；垂直直线对应对是指空间直线为垂线的直线对应对；水平直线对应对是指空间直线为水平线的直线对应对）才能线性求解机器人的位置与朝向；（３）当空间直线都垂直于机器人运动平面时，至少需要三组直线对应对才能非线性求解机器人的位置与朝向；（４） 当空间直线都平行于机器人运动平面时，同样至少需要三组直线对应对才能非线性求解机器人的位置与朝向．