Mobile robot navigation employing retroreflective ceiling featur

Details Mobile robot navigation employing retroreflective ceiling featur Mobile robot navigation employing retroreflective ceiling featur

1989-06-07

1991-09-24

Lall, Parshotam S.

Boots, shoes, and leggings

364449, 358103, 180169, G06F 1550

Patent

active

050519069

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 a retroreflective ceiling feature. A mobile robot 10 includes a light source 28 and a camera 12 that are pitched up obliquely at an intermediate angle between a horizon and a zenith. The camera views a ceiling having one or more strip-like retroreflective features 16 which are preferably aligned with an axis of the hallway. In that the feature presents a pattern or alignment which is substantially parallel to a long axis of the hallway the pattern is detected and processed to derive robot navigation information therefrom.

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