Position Verification of a Mobile Robot Using Standard Pattern

Mansur R. Kabuka, Alvaro E. Arenas

Research output: Contribution to journalArticlepeer-review

100 Scopus citations


The authors describe a system by which the critical geometric dimensions of a standard pattern are used to locate the relative position of a 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 the work.

Original languageEnglish (US)
Pages (from-to)505-516
Number of pages12
JournalIEEE Journal on Robotics and Automation
Issue number6
StatePublished - Dec 1987

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Engineering(all)
  • Computer Science Applications
  • Electrical and Electronic Engineering


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