COMPUTATION OF ROBOT LOCATION AND ORIENTATION USING REPEATING FEATURE OF CEILING TEXTURES AND OPTICAL FLOW VECTORS

摘要

PURPOSE: A method for computing location and orientation of a robot by using repeated patterns of the ceiling and optical flow vectors is provided to reduce error accumulated on the location or direction information using the straight line or intersecting points of lattice-shaped repeated patterns. CONSTITUTION: A method for computing location and orientation of a robot by using repeated patterns of the ceiling and optical flow vectors comprises following steps. If initial direction and location are set, the location and direction of the robot is gradually calculated through the recognition of straight lines and latticed points. Every time the robot finds out each intersecting point of patterns of the ceiling, small errors are corrected and not accumulated, so the robot can continuously move.