Abstract
This paper explores the possibility of using Sun altitude for localization of a robot in totally unknown territory. A set of Sun altitudes is obtained by processing a sequence of time-indexed images of the sky. Each altitude constrains the viewer to a circle on the surface of a celestial body, called the circle of equal altitude. A set of circles of equal altitude can be intersected to yield viewer position. We use this principle to obtain position on Earth. Since altitude measurements are corrupted by noise, a least-square estimate is numerically calculated from the sequence of altitudes. The paper discusses the necessary theory for Sun-based localization, the technical issues of camera calibration and image processing, and presents preliminary results with real data.
| Original language | American English |
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| Pages | 106-111 |
| Number of pages | 6 |
| State | Published - 1 Jan 1995 |
| Externally published | Yes |
| Event | Proceedings - IEEE International Conference on Robotics and Automation - Duration: 1 Jan 1997 → … |
Conference
| Conference | Proceedings - IEEE International Conference on Robotics and Automation |
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| Period | 1/01/97 → … |