Electricity: motive power systems – Positional servo systems – Vehicular guidance systems with single axis control
Patent
1994-07-08
1996-06-11
Ip, Paul
Electricity: motive power systems
Positional servo systems
Vehicular guidance systems with single axis control
3185681, 364449, 36442402, G06F 1550
Patent
active
055258832
ABSTRACT:
An apparatus and method are disclosed for using specially designed landmarks to provide the position and orientation in three dimensions of an autonomous vehicle, such as a mobile robot. The landmarks are checkerboards of rectangular cells of contrasting colors that are arranged to create a pseudo-random pattern. The autonomous vehicle carries a recognition and measurement unit, for example including a camera and a digital computer that processes the output of the camera. A map stored in the recognition and measurement unit describes the position, orientation and dimensions of each pseudo-random checkerboard pattern. The recognition and measurement unit processes the image of a pseudo-random checkerboard pattern to identify the landmark on which the pattern is displayed and to calculate the position and orientation of the autonomous vehicle. The pseudo-randomness of each checkerboard pattern enables determination of the position and orientation determination of the autonomous vehicle even if partial errors are made in visual interpretation of the landmark.
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Ip Paul
Sara Avitzour
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