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As mobile robots are taking on more and more of the tasks that were normally delegated to humans, they need to acquire higher degrees of autonomous operation, which calls for accurate and efficient position determination and/or verification. The critical geometric dimensions of a standard pattern are used here to locate the relative position of the mobile robot with respect to the pattern; by doing so, the method does not depend on values of any intrinsic camera parameters, except the focal length. In addition, this method has the advantages of simplicity and flexibility. This standard pattern is also provided with a unique identification code, using bar codes, that enables the system to find the absolute location of the pattern. These bar codes also assist in the scanning algorithms to locate the pattern in the environment. A thorough error analysis and experimental results obtained through software simulation are presented, as well as the current direction of our work.
Kabuka et al. (Tue,) studied this question.