An implementation of camera geometry correction capability in a video-rate stereo machine

摘要

In this thesis, a new approach to Self-Positioning-System for an Autonomous Mobile Robot (AMR) isintroduced. The system is composed of a set of small landmarks scattered inside of AMR workingarea and a reading system mounted on AMR. Each landmark is represented by a unique pattern madeof polarizing film that is placed in a known fixed position. The panoramic scanning system iscomposed of a laser beam emitter and a detector of the reflected polarized light beam. When AMRapproaches landmark's neighborhood, AMR can determine it's own position (x, y) and posture(orientationθ) by reading the landmark. By experiments, the system is able to determine AMRposition with standard deviation of 10 [mm] or less and AMR posture with standard deviation of1.0 [degree] of less when reading system inside of a circle (R =500 [mm]) centered 800 [mm] awayof the landmark.