Mobile robot navigation employing ceiling light fixtures

Details Mobile robot navigation employing ceiling light fixtures Mobile robot navigation employing ceiling light fixtures

1988-10-04

1990-06-12

Lall, Parshotam S.

Boots, shoes, and leggings

364436, 364450, 364460, 36442401, 364559, 180167, 318587, G06E 1550, G01C 2100, G06F 1564

Patent

active

049338641

ABSTRACT:
Apparatus and method which provides for the determination of a vehicle's orientation and position in an environment, such as a hallway, from an image of ceiling lights. A mobile robot 10 includes a camera 12 that is pitched up obliquely at an intermediate angle between a horizon and a zenith. The camera views a ceiling having one or more ceiling lights 16 which may be of rectangular shape and which are preferably aligned with an axis of the hallway. In that the lights present a pattern or alignment which is substantially parallel to or perpendicular to a long axis of the hallway the pattern is detected and processed to derive robot navigation information therefrom.

REFERENCES:
patent: 4779095 (1988-10-01), Guerreri
patent: 4790402 (1988-12-01), Field et al.
patent: 4819169 (1989-04-01), Saitoh et al.

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