Effective method for determining the robot position.

Din Chang Tseng, Zen Chen, Jenn Yee Lin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations


A procedure for determining the position of a mobile robot in a 3-D space is presented. A single 2-D image of a cubic object is used to derive the position of the robot relative to this cube. The derivation is based on the information of vanishing points of the 2-D perspective projection of the cube. The coordinates of vanishing points are iteratively modified to satisfy the imposed constraints: (1) the edge length of the cube is known; (2) the adjacent edges of the cube are mutually perpendicular, and (3) the projected lines of all parallel edges of the cube converge to a vanishing point. In the experiments, a robot arm is automatically guided using the proposed method to grasp a cube. The error analysis of the experimental results is also reported.

Original languageEnglish
Title of host publicationProc CVPR 88 Comput Soc Conf on Comput Vision and Pattern Recognit
PublisherPubl by IEEE
Number of pages6
ISBN (Print)0818608625
StatePublished - 1988

Publication series

NameProc CVPR 88 Comput Soc Conf on Comput Vision and Pattern Recognit


Dive into the research topics of 'Effective method for determining the robot position.'. Together they form a unique fingerprint.

Cite this