Landmarks for absolute localization

Dartmouth Technical Report TR2000-364

	Jon Howell
	Keith Kotay

Date: March 2000

URL (compressed postscript): <http://www.cs.dartmouth.edu/reports/TR2000-364.ps.Z> (932KB)

URL (PDF): <http://www.cs.dartmouth.edu/reports/TR2000-364.pdf> (372KB)

Abstract:
 For certain experiments in mobile robotics, it is convenient to eliminate
 positional estimation error in the interest of analyzing other parts of
 the experiment. We designed and implemented a simple, accurate scheme
 for encoding and recovering absolute position information. The encoding
 is a two-dimensional image printed on the plane of the floor, and the
 absolute position information is recovered using a downward-looking
 video camera mounted on a mobile robot.

Note:
 This document describes work done in the Dartmouth Robotics Laboratory
 in April of 1997 and August of 1999. It was previously ``published'' as
 a web page, but we thought it would make sense to document it more
 permanently.