INDUSTRIAL VEHICLES, THE LOCATION OF WHICH IS DETERMINED BY THE TOP LIGHTING PLAFONS

摘要

According to the embodiments described herein, a method for environmental based localization may include capturing an input image of a ceiling comprising a plurality of skylights and a substantially circular light. Features can be extracted from the input image. A convex hull of the raw features can be determined, and a preferred set of lines from the raw features can be selected utilizing the convex hull. A centerline of the skylight can be determined from the preferred set of lines. The substantially circular light of the input image can be transformed into a point feature. A pose and/or position of a vehicle can be determined based upon the centerline of the skylight and the point feature.